loop_scan_matcher.h

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

#include <graph_slam/scan_manager.h>

namespace graph_slam
{

namespace pg=pose_graph;

class LoopScanMatcher : public ScanManager
{
public:

  LoopScanMatcher (const geometry_msgs::Pose2D& laser_offset, double max_link_length,
                   unsigned min_chain_length, double min_response, bool use_covariances);

  NodeConstraintVector getConstraints (const pg::PoseGraph& g, const pg::NodeId ref_node,
                                       const Pose& init_pose_estimate, const LaserPtr scan) const;

  ChainVec possibleLoopClosures (const pg::PoseGraph& graph, pg::NodeId ref_node,
                                 const geometry_msgs::Point& barycenter, const LaserPtr scan) const;

private:

  bool furtherThan (const double max_distance, const geometry_msgs::Point& p, const pg::NodeId n) const;

  // Mutable because it is initialized in getConstraints, which is logically const
  mutable KartoMatcherPtr matcher_; 

  const double max_link_length_;
  const double min_chain_length_;
  const double min_response_;
  const double use_covariances_;

};

} // namespace

#endif // include guard