OdometryEvent.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      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 Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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*/
 
#ifndef ODOMETRYEVENT_H_
#define ODOMETRYEVENT_H_
 
#include "rtabmap/utilite/UEvent.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UMath.h"
#include "rtabmap/core/SensorData.h"
#include "rtabmap/core/OdometryInfo.h"
 
namespace rtabmap {
 
class OdometryEvent : public UEvent
{
public:
        OdometryEvent()
        {
                _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
        }
        OdometryEvent(
                const SensorData & data,
                const Transform & pose,
                const OdometryInfo & info = OdometryInfo()) :
                        _data(data),
                        _pose(pose),
                        _info(info)
        {
                if(_info.reg.covariance.empty())
                {
                        _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
                }
                UASSERT(_info.reg.covariance.cols == 6 && _info.reg.covariance.rows == 6 && _info.reg.covariance.type() == CV_64FC1);
                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)");
                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)");
                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)");
                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)");
                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)");
                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)");
        }
        virtual ~OdometryEvent() {}
        virtual std::string getClassName() const {return "OdometryEvent";}
 
        SensorData & data() {return _data;}
        const SensorData & data() const {return _data;}
        const Transform & pose() const {return _pose;}
        const cv::Mat & covariance() const {return _info.reg.covariance;}
        std::vector<float> velocity() const {
                if(_info.interval>0.0)
                {
                        std::vector<float> velocity(6,0);
                        float x,y,z,roll,pitch,yaw;
                        _info.transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
                        velocity[0] = x/_info.interval;
                        velocity[1] = y/_info.interval;
                        velocity[2] = z/_info.interval;
                        velocity[3] = roll/_info.interval;
                        velocity[4] = pitch/_info.interval;
                        velocity[5] = yaw/_info.interval;
                        return velocity;
                }
                return std::vector<float>();
        }
        const OdometryInfo & info() const {return _info;}
 
private:
        SensorData _data;
        Transform _pose;
        OdometryInfo _info;
};
 
class OdometryResetEvent : public UEvent
{
public:
        OdometryResetEvent(const Transform & pose = Transform::getIdentity()){_pose = pose;}
        virtual ~OdometryResetEvent() {}
        virtual std::string getClassName() const {return "OdometryResetEvent";}
        const Transform & getPose() const {return _pose;}
private:
        Transform _pose;
};
 
}
 
 
#endif /* ODOMETRYEVENT_H_ */