fake_loop_closure.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
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 * 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
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include <graph_slam/constraint_generator.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <ros/ros.h>
#include <boost/optional.hpp>

namespace graph_slam
{

const double LOCALIZATION_RECENCY_THRESHOLD = 1.0;

class FakeLoopClosureGenerator: public ConstraintGenerator
{
public:

  FakeLoopClosureGenerator (double proximity_threshold);
  NodeConstraintVector getConstraints (const pose_graph::PoseGraph& graph, const pose_graph::NodeId new_node,
                                       const pose_graph::NodePoseMap& optimized_poses);
  void initializeFromGraph (const pose_graph::PoseGraph& g, const std::vector<pose_graph::NodeId>& node_sequence);
  void updateLocalization (const graph_slam::GraphLocalization& loc);

private:

  void locCB (const geometry_msgs::PoseWithCovarianceStamped& msg);
  bool haveRecentlyReceivedPose () const;

  /****************************************
   * Associated objects
   ****************************************/

  ros::NodeHandle nh_;
  ros::Subscriber fake_loc_sub_;

/****************************************
 * Params
 ****************************************/
  
  const double proximity_threshold_;

  /****************************************
   * State
   ****************************************/

  boost::optional<geometry_msgs::PoseStamped> last_pose_;
  NodePoseMap true_poses_;
  
};


} // namespace graph_slam