constraint_generator.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef POSE_GRAPH_CONSTRAINT_GENERATOR_H
#define POSE_GRAPH_CONSTRAINT_GENERATOR_H

#include <pose_graph/pose_graph.h>
#include <graph_slam/GraphLocalization.h>
#include <geometry_msgs/PoseStamped.h>
#include <boost/shared_ptr.hpp>
#include <vector>
#include <map>

// Avoiding include all of ros into constraint generators that include this file
namespace ros
{
class NodeHandle;
}

namespace graph_slam
{

namespace pg=pose_graph;

using geometry_msgs::Pose;


/************************************************************
 * Abstract constraint generator
 ************************************************************/


struct NodeConstraint
{
  NodeConstraint (const pg::NodeId target, const pg::PoseConstraint& constraint) :
    target(target), constraint(constraint) {}
  pg::NodeId target;
  pg::PoseConstraint constraint;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

typedef std::vector<NodeConstraint, Eigen3::aligned_allocator<NodeConstraint> > NodeConstraintVector;
typedef std::map<pg::NodeId, geometry_msgs::Pose> NodePoseMap;

class ConstraintGenerator
{
public:
  virtual ~ConstraintGenerator () {};

  virtual NodeConstraintVector getConstraints (const pg::PoseGraph& graph, pg::NodeId new_node, 
                                               const NodePoseMap& optimized_poses) = 0;

  virtual void updateLocalization (const graph_slam::GraphLocalization& loc) = 0;

  virtual void initializeFromGraph (const pg::PoseGraph& g, const std::vector<pg::NodeId>& node_sequence) = 0;
};

typedef boost::shared_ptr<ConstraintGenerator> ConstraintGenPtr;


// Create a constraint generator based on parameters in a ros namespace
ConstraintGenPtr createConstraintGenerator (const ros::NodeHandle& nh);

} // namespace graph_slam

#endif // include guard