lidar_measurement_model_base.h

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/*
 * Copyright (c) 2018, the mcl_3dl authors
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 *       this software without specific prior written permission.
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#ifndef MCL_3DL_LIDAR_MEASUREMENT_MODEL_BASE_H
#define MCL_3DL_LIDAR_MEASUREMENT_MODEL_BASE_H

#include <memory>
#include <string>
#include <utility>
#include <vector>

#include <ros/ros.h>

#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>

#include <mcl_3dl/chunked_kdtree.h>
#include <mcl_3dl/point_cloud_random_sampler.h>
#include <mcl_3dl/point_cloud_random_samplers/point_cloud_uniform_sampler.h>
#include <mcl_3dl/point_types.h>
#include <mcl_3dl/state_6dof.h>
#include <mcl_3dl/vec3.h>

namespace mcl_3dl
{
struct LidarMeasurementResult
{
  float likelihood;
  float quality;

  LidarMeasurementResult(const float likelihood_value, const float quality_value)
    : likelihood(likelihood_value)
    , quality(quality_value)
  {
  }
};

class LidarMeasurementModelBase
{
public:
  using Ptr = std::shared_ptr<LidarMeasurementModelBase>;
  using PointType = mcl_3dl::PointXYZIL;
  using SamplerType = PointCloudRandomSampler<PointType>;

  LidarMeasurementModelBase()
    : sampler_(new PointCloudUniformSampler<PointType>())
  {
  }

  virtual void loadConfig(
      const ros::NodeHandle& nh,
      const std::string& name) = 0;
  virtual void setGlobalLocalizationStatus(
      const size_t, const size_t) = 0;
  virtual float getMaxSearchRange() const = 0;

  virtual pcl::PointCloud<PointType>::Ptr filter(
      const pcl::PointCloud<PointType>::ConstPtr&) const = 0;

  virtual LidarMeasurementResult measure(
      ChunkedKdtree<PointType>::Ptr&,
      const pcl::PointCloud<PointType>::ConstPtr&,
      const std::vector<Vec3>&,
      const State6DOF&) const = 0;

  void setRandomSampler(const std::shared_ptr<SamplerType>& sampler)
  {
    sampler_ = sampler;
  }
  std::shared_ptr<SamplerType> getRandomSampler()
  {
    return sampler_;
  }

protected:
  std::shared_ptr<SamplerType> sampler_;
};
}  // namespace mcl_3dl

#endif  // MCL_3DL_LIDAR_MEASUREMENT_MODEL_BASE_H