lidar_measurement_model_likelihood.h

Go to the documentation of this file.

/*
 * Copyright (c) 2018, the mcl_3dl authors
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its 
 *       contributors may be used to endorse or promote products derived from 
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_LIKELIHOOD_H
#define MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_LIKELIHOOD_H

#include <memory>
#include <string>
#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/lidar_measurement_model_base.h>
#include <mcl_3dl/pf.h>
#include <mcl_3dl/point_cloud_random_sampler.h>
#include <mcl_3dl/vec3.h>

namespace mcl_3dl
{
class LidarMeasurementModelLikelihood : public LidarMeasurementModelBase
{
private:
  size_t num_points_;
  size_t num_points_default_;
  size_t num_points_global_;
  float clip_far_sq_;
  float clip_near_sq_;
  float clip_z_min_;
  float clip_z_max_;
  float match_weight_;
  float match_dist_min_;
  float match_dist_flat_;

public:
  inline float getMaxSearchRange() const
  {
    return match_dist_min_;
  }

  void loadConfig(
      const ros::NodeHandle& nh,
      const std::string& name);
  void setGlobalLocalizationStatus(
      const size_t num_particles,
      const size_t current_num_particles);
  pcl::PointCloud<PointType>::Ptr filter(
      const pcl::PointCloud<PointType>::ConstPtr& pc) const;
  LidarMeasurementResult measure(
      ChunkedKdtree<PointType>::Ptr& kdtree,
      const pcl::PointCloud<PointType>::ConstPtr& pc,
      const std::vector<Vec3>& origins,
      const State6DOF& s) const;
};
}  // namespace mcl_3dl

#endif  // MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_LIKELIHOOD_H