mrpt_localization_core.h

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#pragma once

#include <mrpt/bayes/CParticleFilter.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CActionRobotMovement2D.h>
#include <mrpt/obs/CObservationOdometry.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/slam/CMonteCarloLocalization2D.h>
#include <mrpt/system/CTicTac.h>
#include <stdint.h>

#include <iostream>
using namespace mrpt::maps;
using namespace mrpt::obs;

class PFLocalizationCore
{
   public:
        enum PFStates
        {
                NA,
                INIT,
                RUN,
                IDLE
        };

        PFLocalizationCore();
        ~PFLocalizationCore();

        void init();
        void observation(
                CSensoryFrame::Ptr _sf, CObservationOdometry::Ptr _odometry);

   protected:
        bool use_motion_model_default_options_;  
        CActionRobotMovement2D::TMotionModelOptions
                motion_model_default_options_;  
        CActionRobotMovement2D::TMotionModelOptions
                motion_model_options_;  
        CMultiMetricMap::Ptr metric_map_ = CMultiMetricMap::Create();  
        mrpt::bayes::CParticleFilter
                pf_;  
        mrpt::bayes::CParticleFilter::TParticleFilterStats
                pf_stats_;      
        mrpt::slam::CMonteCarloLocalization2D pdf_;      
        mrpt::poses::CPosePDFGaussian
                initial_pose_;  
        int initial_particle_count_;  
        mrpt::system::TTimeStamp time_last_update_;      
        mrpt::system::CTicTac tictac_;  
        size_t update_counter_;  
        PFStates state_;  
        mrpt::poses::CPose2D
                odom_last_observation_;  
        bool init_PDF_mode;      
        float init_PDF_min_x;  
        float init_PDF_max_x;
        float init_PDF_min_y;
        float init_PDF_max_y;

   private:
        void initializeFilter();

        void updateFilter(CActionCollection::Ptr _action, CSensoryFrame::Ptr _sf);
};