scan_manager.h

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#ifndef POSE_GRAPH_SCAN_MANAGER_H
#define POSE_GRAPH_SCAN_MANAGER_H

#include <graph_slam/constraint_generator.h>
#include <karto_scan_matcher/karto_scan_matcher.h>
#include <ros/assert.h>
#include <boost/shared_ptr.hpp>
#include <boost/bimap.hpp>
#include <boost/optional.hpp>

namespace graph_slam
{

namespace pg=pose_graph;

typedef boost::bimap<pg::NodeId, pg::NodeId> NodeSequenceMap;
typedef std::vector<pg::NodeId> Chain;
typedef boost::shared_ptr<karto_scan_matcher::KartoScanMatcher> KartoMatcherPtr;
typedef sensor_msgs::LaserScan::ConstPtr LaserPtr;
typedef std::map<pg::NodeId, LaserPtr> NodeScanMap;
typedef std::set<pg::NodeId> NodeSet;                         
typedef std::vector<Chain> ChainVec;


class ScanManager
{
public:

  ScanManager (const geometry_msgs::Pose2D& laser_offset);
  
  void addNode (pg::NodeId n, LaserPtr scan);

  boost::optional<pg::NodeId> lastNode () const;

  void resetLastNode ();

  pg::NodeId closestNode (const geometry_msgs::Pose2D& pose, const NodeSet& nodes) const;

  geometry_msgs::Point computeBarycenterInBaseFrame (const LaserPtr scan) const;

  NodeSet nearbyNodes (pg::NodeId n, const geometry_msgs::Point& center, const pg::PoseGraph& graph,
        const double max_distance) const;

protected:

  NodeConstraint scanChainConstraint (const geometry_msgs::Point& barycenter,
                                      const geometry_msgs::Pose2D& pose, const pg::PrecisionMatrix& prec,
                                      const Chain& chain) const;


  template <typename NodeContainer>
  std::vector<karto_scan_matcher::ScanWithPose> makeRefScans (const NodeContainer& nodes) const;

  Chain getChain (pg::NodeId n, const NodeSet& nodes, const NodeSet& processed) const;

  karto_scan_matcher::ScanMatchResult scanMatchNodes (KartoMatcherPtr matcher, 
                                                      const geometry_msgs::Pose& init_pose_estimate, 
                                                      const LaserPtr scan, const NodeSet& nodes) const;

  const geometry_msgs::Pose2D laser_offset_;

  NodeSequenceMap node_sequence_;

  boost::optional<geometry_msgs::Point> nodeBarycenter (const pg::NodeId n) const;

  geometry_msgs::Pose optimizedPose (const pg::NodeId n) const;

private:

  NodeScanMap scans_;
  std::map<pg::NodeId, geometry_msgs::Point> barycenters_; // In the base frame
  boost::optional<pg::NodeId> last_node_; // The node that was last added, if it exists
  mutable boost::optional<NodePoseMap> optimized_poses_; // Temporary storage of optimized poses

  geometry_msgs::Point nodeBarycenter (const pg::NodeId n, const geometry_msgs::Pose& pose) const;

  pg::NodeId closestNode (const geometry_msgs::Point& barycenter, const Chain& chain) const;


  void setOptimizedPoses (const NodePoseMap& optimized_poses) const;
  void unsetOptimizedPoses () const;
  friend class WithOptimizedPoses;


};


struct WithOptimizedPoses
{
  WithOptimizedPoses (const ScanManager* matcher, const NodePoseMap& poses);
  ~WithOptimizedPoses ();
  const ScanManager* matcher;
};


// Utility function for walking along a chain
// Templated so it can take either side of a bimap
template <typename Map>
Chain onewayChain (const Map& m, const pg::NodeId seed, const NodeSet& allowed, const NodeSet& forbidden)
{
  Chain chain;
  pg::NodeId current=seed;
  while (true) {
    if (allowed.find(current)==allowed.end() ||
        forbidden.find(current)!=forbidden.end())
      break;
    chain.push_back(current);
    typename Map::const_iterator pos=m.find(current);
    if (pos==m.end())
      break;
    current = pos->second;
  }
  return chain;
}

pg::PrecisionMatrix getPrecisionMatrix (const karto_scan_matcher::ScanMatchResult& res,
                                        const bool use_covariances);

// Add chain to chains, and add all its nodes to processed
void addChain (const Chain& chain, ChainVec* chains, NodeSet* processed);


} // namespace graph_slam

#endif // include guard