OdometryEvent.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
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27 
28 #ifndef ODOMETRYEVENT_H_
29 #define ODOMETRYEVENT_H_
30 
31 #include "rtabmap/utilite/UEvent.h"
33 #include "rtabmap/utilite/UMath.h"
36 
37 namespace rtabmap {
38 
39 class OdometryEvent : public UEvent
40 {
41 public:
43  {
44  _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
45  }
47  const SensorData & data,
48  const Transform & pose,
49  const OdometryInfo & info = OdometryInfo()) :
50  _data(data),
51  _pose(pose),
52  _info(info)
53  {
54  if(_info.reg.covariance.empty())
55  {
56  _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
57  }
58  UASSERT(_info.reg.covariance.cols == 6 && _info.reg.covariance.rows == 6 && _info.reg.covariance.type() == CV_64FC1);
59  UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(0,0)) && _info.reg.covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
60  UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(1,1)) && _info.reg.covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
61  UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(2,2)) && _info.reg.covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
62  UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(3,3)) && _info.reg.covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
63  UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(4,4)) && _info.reg.covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
64  UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(5,5)) && _info.reg.covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
65  }
66  virtual ~OdometryEvent() {}
67  virtual std::string getClassName() const {return "OdometryEvent";}
68 
69  SensorData & data() {return _data;}
70  const SensorData & data() const {return _data;}
71  const Transform & pose() const {return _pose;}
72  const cv::Mat & covariance() const {return _info.reg.covariance;}
73  std::vector<float> velocity() const {
74  if(_info.interval>0.0)
75  {
76  std::vector<float> velocity(6,0);
77  float x,y,z,roll,pitch,yaw;
78  _info.transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
79  velocity[0] = x/_info.interval;
80  velocity[1] = y/_info.interval;
81  velocity[2] = z/_info.interval;
82  velocity[3] = roll/_info.interval;
83  velocity[4] = pitch/_info.interval;
84  velocity[5] = yaw/_info.interval;
85  return velocity;
86  }
87  return std::vector<float>();
88  }
89  const OdometryInfo & info() const {return _info;}
90 
91 private:
95 };
96 
97 class OdometryResetEvent : public UEvent
98 {
99 public:
101  virtual ~OdometryResetEvent() {}
102  virtual std::string getClassName() const {return "OdometryResetEvent";}
103  const Transform & getPose() const {return _pose;}
104 private:
106 };
107 
108 }
109 
110 
111 #endif /* ODOMETRYEVENT_H_ */
GLM_FUNC_DECL T roll(detail::tquat< T, P > const &x)
SensorData & data()
Definition: OdometryEvent.h:69
Definition: UEvent.h:57
const cv::Mat & covariance() const
Definition: OdometryEvent.h:72
const SensorData & data() const
Definition: OdometryEvent.h:70
x
virtual std::string getClassName() const
Definition: OdometryEvent.h:67
static Transform getIdentity()
Definition: Transform.cpp:401
Basic mathematics functions.
GLM_FUNC_DECL T pitch(detail::tquat< T, P > const &x)
void getTranslationAndEulerAngles(float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const
Definition: Transform.cpp:248
bool uIsFinite(const T &value)
Definition: UMath.h:55
#define UASSERT(condition)
OdometryEvent(const SensorData &data, const Transform &pose, const OdometryInfo &info=OdometryInfo())
Definition: OdometryEvent.h:46
#define UASSERT_MSG(condition, msg_str)
Definition: ULogger.h:67
virtual std::string getClassName() const
OdometryResetEvent(const Transform &pose=Transform::getIdentity())
std::vector< float > velocity() const
Definition: OdometryEvent.h:73
const OdometryInfo & info() const
Definition: OdometryEvent.h:89
ULogger class and convenient macros.
GLM_FUNC_DECL T yaw(detail::tquat< T, P > const &x)
RegistrationInfo reg
Definition: OdometryInfo.h:97
const Transform & getPose() const
const Transform & pose() const
Definition: OdometryEvent.h:71


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:29