karto_scan_matcher.h

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/************************************************************
 * \file
 * 
 * Ros wrapper for the Karto scan matcher
 *
 * \author Bhaskara Marthi
 ************************************************************/

#ifndef KARTO_SCAN_MATCHER_KARTO_SCAN_MATCHER_H
#define KARTO_SCAN_MATCHER_KARTO_SCAN_MATCHER_H

#include <karto/Mapper.h>
// Undo the various defines from the karto headers to be safe
#undef forEach
#undef forEachAs
#undef const_forEach
#undef const_forEachAs
#undef forEachR
#undef const_forEachR

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/LaserScan.h>
#include <geometry_msgs/Pose2D.h>
#include <boost/shared_ptr.hpp>
#include <boost/optional.hpp>
#include <vector>
#include <Eigen/Dense>



namespace karto_scan_matcher
{

using std::vector;

const double DEFAULT_SMEAR_DEVIATION = 0.03;
const double DEFAULT_RANGE_THRESHOLD = 12.0;


struct ScanWithPose
{
  ScanWithPose (const sensor_msgs::LaserScan& scan, const geometry_msgs::Pose2D& pose)
    : scan(scan), pose(pose) {}
  ScanWithPose () {}

  sensor_msgs::LaserScan scan;
  geometry_msgs::Pose2D pose;
};

struct ScanMatchResult
{
  ScanMatchResult (const geometry_msgs::Pose2D& pose, const Eigen::Matrix3f& cov,
                   const double response) :
    pose(pose), cov(cov), response(response)
  {}

  ScanMatchResult () {}

  geometry_msgs::Pose2D pose;
  Eigen::Matrix3f cov;
  double response;
};


typedef std::vector<double> DoubleVector;

class KartoScanMatcher 
{
public:
  
  KartoScanMatcher(const sensor_msgs::LaserScan& init_scan, const tf::TransformListener& tf,
                   double search_space_size, double search_grid_resolution);

  KartoScanMatcher(const sensor_msgs::LaserScan& init_scan, const geometry_msgs::Pose2D& laser_pose,
                   double search_space_size, double search_grid_resolution);

  KartoScanMatcher(const sensor_msgs::LaserScan& init_scan, const geometry_msgs::Pose2D& laser_pose,
                   const DoubleVector& search_sizes, const DoubleVector& search_resolutions);


  ScanMatchResult scanMatch (const sensor_msgs::LaserScan& scan, const geometry_msgs::Pose2D& pose,
                             const vector<ScanWithPose>& reference_scans) const;

  


  void setPenalizeDistance (bool penalize);

  void setVisualizationPublisher (const std::string& topic,
                                  const std::string& frame);
  
private:

  void initialize (const sensor_msgs::LaserScan& init_scan, const geometry_msgs::Pose2D& laser_pose,
                   const DoubleVector& search_space_sizes, const DoubleVector& search_space_resolutions);

  void visualizeResult (const sensor_msgs::LaserScan& scan, const geometry_msgs::Pose2D& pose,
                        const vector<ScanWithPose>& reference_scans, const geometry_msgs::Pose2D& res) const;


  typedef boost::shared_ptr<karto::ScanMatcher> MatcherPtr;
  typedef boost::shared_ptr<karto::Mapper> MapperPtr;

  boost::shared_ptr<karto::Dataset> dataset_;
  std::vector<MatcherPtr> matchers_;
  std::vector<MapperPtr> mappers_;
  karto::LaserRangeFinder* laser_; // memory managed by dataset_
  boost::optional<ros::Publisher> vis_pub_;
  std::string vis_frame_;
  
  bool penalize_distance_; // the distancePenalty argument to matchScans
  btTransform laser_to_base_; // Pose of laser wrt base frame
};


} // namespace karto_scan_matcher



#endif // include guard