submap_2d.h
Go to the documentation of this file.
00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_
00018 #define CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_
00019 
00020 #include <memory>
00021 #include <vector>
00022 
00023 #include "Eigen/Core"
00024 #include "cartographer/common/lua_parameter_dictionary.h"
00025 #include "cartographer/mapping/2d/grid_2d.h"
00026 #include "cartographer/mapping/2d/map_limits.h"
00027 #include "cartographer/mapping/proto/2d/submaps_options_2d.pb.h"
00028 #include "cartographer/mapping/proto/serialization.pb.h"
00029 #include "cartographer/mapping/proto/submap_visualization.pb.h"
00030 #include "cartographer/mapping/range_data_inserter_interface.h"
00031 #include "cartographer/mapping/submaps.h"
00032 #include "cartographer/mapping/trajectory_node.h"
00033 #include "cartographer/mapping/value_conversion_tables.h"
00034 #include "cartographer/sensor/range_data.h"
00035 #include "cartographer/transform/rigid_transform.h"
00036 
00037 namespace cartographer {
00038 namespace mapping {
00039 
00040 proto::SubmapsOptions2D CreateSubmapsOptions2D(
00041     common::LuaParameterDictionary* parameter_dictionary);
00042 
00043 class Submap2D : public Submap {
00044  public:
00045   Submap2D(const Eigen::Vector2f& origin, std::unique_ptr<Grid2D> grid,
00046            ValueConversionTables* conversion_tables);
00047   explicit Submap2D(const proto::Submap2D& proto,
00048                     ValueConversionTables* conversion_tables);
00049 
00050   proto::Submap ToProto(bool include_grid_data) const override;
00051   void UpdateFromProto(const proto::Submap& proto) override;
00052 
00053   void ToResponseProto(const transform::Rigid3d& global_submap_pose,
00054                        proto::SubmapQuery::Response* response) const override;
00055 
00056   const Grid2D* grid() const { return grid_.get(); }
00057 
00058   // Insert 'range_data' into this submap using 'range_data_inserter'. The
00059   // submap must not be finished yet.
00060   void InsertRangeData(const sensor::RangeData& range_data,
00061                        const RangeDataInserterInterface* range_data_inserter);
00062   void Finish();
00063 
00064  private:
00065   std::unique_ptr<Grid2D> grid_;
00066   ValueConversionTables* conversion_tables_;
00067 };
00068 
00069 // The first active submap will be created on the insertion of the first range
00070 // data. Except during this initialization when no or only one single submap
00071 // exists, there are always two submaps into which range data is inserted: an
00072 // old submap that is used for matching, and a new one, which will be used for
00073 // matching next, that is being initialized.
00074 //
00075 // Once a certain number of range data have been inserted, the new submap is
00076 // considered initialized: the old submap is no longer changed, the "new" submap
00077 // is now the "old" submap and is used for scan-to-map matching. Moreover, a
00078 // "new" submap gets created. The "old" submap is forgotten by this object.
00079 class ActiveSubmaps2D {
00080  public:
00081   explicit ActiveSubmaps2D(const proto::SubmapsOptions2D& options);
00082 
00083   ActiveSubmaps2D(const ActiveSubmaps2D&) = delete;
00084   ActiveSubmaps2D& operator=(const ActiveSubmaps2D&) = delete;
00085 
00086   // Inserts 'range_data' into the Submap collection.
00087   std::vector<std::shared_ptr<const Submap2D>> InsertRangeData(
00088       const sensor::RangeData& range_data);
00089 
00090   std::vector<std::shared_ptr<const Submap2D>> submaps() const;
00091 
00092  private:
00093   std::unique_ptr<RangeDataInserterInterface> CreateRangeDataInserter();
00094   std::unique_ptr<GridInterface> CreateGrid(const Eigen::Vector2f& origin);
00095   void FinishSubmap();
00096   void AddSubmap(const Eigen::Vector2f& origin);
00097 
00098   const proto::SubmapsOptions2D options_;
00099   std::vector<std::shared_ptr<Submap2D>> submaps_;
00100   std::unique_ptr<RangeDataInserterInterface> range_data_inserter_;
00101   ValueConversionTables conversion_tables_;
00102 };
00103 
00104 }  // namespace mapping
00105 }  // namespace cartographer
00106 
00107 #endif  // CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_


cartographer
Author(s): The Cartographer Authors
autogenerated on Thu May 9 2019 02:27:36