SpaSolver.cpp

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/*
 * Copyright 2010 SRI International
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#include <ros/console.h>
 
#include <nav2d_karto/SpaSolver.h>
 
SpaSolver::SpaSolver()
{
//      m_Spa.verbose = true;
        mLastSPA = ros::Time::now();
}
 
SpaSolver::~SpaSolver()
{
 
}
 
void SpaSolver::Clear()
{
        corrections.Clear();
}
 
const karto::ScanSolver::IdPoseVector& SpaSolver::GetCorrections() const
{
        return corrections;
}
 
void SpaSolver::Compute()
{
        corrections.Clear();
        typedef std::vector<Node2d, Eigen::aligned_allocator<Node2d> > NodeVector;
 
        ROS_INFO("Calling doSPA for loop closure");
        m_Spa.doSPA(40);
        ROS_INFO("Finished doSPA for loop closure");
        NodeVector nodes = m_Spa.getNodes();
        forEach(NodeVector, &nodes)
        {
                karto::Pose2 pose(iter->trans(0), iter->trans(1), iter->arot);
                corrections.Add(karto::Pair<int, karto::Pose2>(iter->nodeId, pose));
        }
        mLastSPA = ros::Time::now();
}
 
void SpaSolver::reCompute()
{
        ros::Duration d = ros::Time::now() - mLastSPA;
        if(d.toSec() > 60)
                Compute();
}
 
void SpaSolver::AddNode(karto::Vertex<karto::LocalizedObjectPtr>* pVertex)
{
        karto::Pose2 pose = pVertex->GetVertexObject()->GetCorrectedPose();
        Eigen::Vector3d vector(pose.GetX(), pose.GetY(), pose.GetHeading());
        m_Spa.addNode(vector, pVertex->GetVertexObject()->GetUniqueId());
}
 
void SpaSolver::AddConstraint(karto::Edge<karto::LocalizedObjectPtr>* pEdge)
{
        karto::LocalizedObjectPtr pSource = pEdge->GetSource()->GetVertexObject();
        karto::LocalizedObjectPtr pTarget = pEdge->GetTarget()->GetVertexObject();
        karto::LinkInfo* pLinkInfo = (karto::LinkInfo*)(pEdge->GetLabel());
 
        karto::Pose2 diff = pLinkInfo->GetPoseDifference();
        Eigen::Vector3d mean(diff.GetX(), diff.GetY(), diff.GetHeading());
 
        karto::Matrix3 precisionMatrix = pLinkInfo->GetCovariance().Inverse();
        Eigen::Matrix<double,3,3> m;
        m(0,0) = precisionMatrix(0,0);
        m(0,1) = m(1,0) = precisionMatrix(0,1);
        m(0,2) = m(2,0) = precisionMatrix(0,2);
        m(1,1) = precisionMatrix(1,1);
        m(1,2) = m(2,1) = precisionMatrix(1,2);
        m(2,2) = precisionMatrix(2,2);
 
        m_Spa.addConstraint(pSource->GetUniqueId(), pTarget->GetUniqueId(), mean, m);
}