fake_loop_closure.cpp

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/*
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#include <graph_slam/constraints/fake_loop_closure.h>
#include <pose_graph/utils.h>
#include <pose_graph/transforms.h>
#include <boost/foreach.hpp>

namespace graph_slam
{

namespace gm=geometry_msgs;
namespace pg=pose_graph;


FakeLoopClosureGenerator::FakeLoopClosureGenerator (const double proximity_threshold) :
  fake_loc_sub_(nh_.subscribe("fake_localization", 1, &FakeLoopClosureGenerator::locCB, this)),
  proximity_threshold_(proximity_threshold)
{}

void FakeLoopClosureGenerator::initializeFromGraph (const pg::PoseGraph& g, const std::vector<pg::NodeId>& node_sequence)
{
  ROS_ASSERT_MSG (false, "initializeFromGraph not implemented for fake loop closure (i.e., you can't use this constraint type when loading an existing graph from a file)");
}

void FakeLoopClosureGenerator::updateLocalization (const GraphLocalization& loc)
{
  ROS_ASSERT_MSG(false, "Not implemented!");
}

NodeConstraintVector FakeLoopClosureGenerator::getConstraints (const pg::PoseGraph& graph, 
                                                               const pg::NodeId new_node, 
                                                               const NodePoseMap& optimized_poses)
{
  NodeConstraintVector constraints;
  if (haveRecentlyReceivedPose()) {
    const gm::Pose& pose = last_pose_->pose;
    BOOST_FOREACH (const NodePoseMap::value_type entry, true_poses_) {
      const double dist = pg::euclideanDistance(entry.second.position, pose.position);
      if (dist<proximity_threshold_) {
        pg::PrecisionMatrix precision = Eigen3::MatrixXd::Identity(6,6);
        pg::PoseConstraint constraint = pg::makeConstraint(pg::relativeTransform(pose, entry.second),
                                                           pg::makePrecisionMatrix(1, 1, 1));
        for (unsigned i=0; i<6; i++) 
          constraint.precision(i,i)=10.0;
        constraints.push_back(NodeConstraint(entry.first, constraint));
        ROS_DEBUG_STREAM_NAMED ("fake_place_rec", "Adding constraint from " << entry.first << " to "
                                << new_node << " : " << constraint);
      }
    }
    true_poses_[new_node] = last_pose_->pose;
  }
  else {
    ROS_DEBUG_NAMED ("fake_loop_closure", "Not adding constraint as no recent fake_localization received");
  }
  return constraints;
}


void FakeLoopClosureGenerator::locCB (const gm::PoseWithCovarianceStamped& msg)
{
  gm::PoseStamped pose;
  pose.header = msg.header;
  pose.pose = msg.pose.pose;
  last_pose_ = pose;
}

bool FakeLoopClosureGenerator::haveRecentlyReceivedPose () const
{
  const ros::Time cutoff = ros::Time::now() - ros::Duration(LOCALIZATION_RECENCY_THRESHOLD);
  return (last_pose_ && last_pose_->header.stamp > cutoff);
}



} // namespace graph_slam