cartographer_ros: trajectory_options.cc Source File

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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 #include "cartographer_ros/trajectory_options.h"
00018 
00019 #include "cartographer/mapping/trajectory_builder_interface.h"
00020 #include "cartographer/transform/rigid_transform.h"
00021 #include "cartographer/transform/transform.h"
00022 #include "cartographer_ros/time_conversion.h"
00023 #include "glog/logging.h"
00024 
00025 namespace cartographer_ros {
00026 
00027 namespace {
00028 
00029 void CheckTrajectoryOptions(const TrajectoryOptions& options) {
00030   CHECK_GE(options.num_subdivisions_per_laser_scan, 1);
00031   CHECK_GE(options.num_laser_scans + options.num_multi_echo_laser_scans +
00032                options.num_point_clouds,
00033            1)
00034       << "Configuration error: 'num_laser_scans', "
00035          "'num_multi_echo_laser_scans' and 'num_point_clouds' are "
00036          "all zero, but at least one is required.";
00037 }
00038 
00039 }  // namespace
00040 
00041 TrajectoryOptions CreateTrajectoryOptions(
00042     ::cartographer::common::LuaParameterDictionary* const
00043         lua_parameter_dictionary) {
00044   TrajectoryOptions options;
00045   options.trajectory_builder_options =
00046       ::cartographer::mapping::CreateTrajectoryBuilderOptions(
00047           lua_parameter_dictionary->GetDictionary("trajectory_builder").get());
00048   options.tracking_frame =
00049       lua_parameter_dictionary->GetString("tracking_frame");
00050   options.published_frame =
00051       lua_parameter_dictionary->GetString("published_frame");
00052   options.odom_frame = lua_parameter_dictionary->GetString("odom_frame");
00053   options.provide_odom_frame =
00054       lua_parameter_dictionary->GetBool("provide_odom_frame");
00055   options.use_odometry = lua_parameter_dictionary->GetBool("use_odometry");
00056   options.use_nav_sat = lua_parameter_dictionary->GetBool("use_nav_sat");
00057   options.use_landmarks = lua_parameter_dictionary->GetBool("use_landmarks");
00058   options.publish_frame_projected_to_2d =
00059       lua_parameter_dictionary->GetBool("publish_frame_projected_to_2d");
00060   options.num_laser_scans =
00061       lua_parameter_dictionary->GetNonNegativeInt("num_laser_scans");
00062   options.num_multi_echo_laser_scans =
00063       lua_parameter_dictionary->GetNonNegativeInt("num_multi_echo_laser_scans");
00064   options.num_subdivisions_per_laser_scan =
00065       lua_parameter_dictionary->GetNonNegativeInt(
00066           "num_subdivisions_per_laser_scan");
00067   options.num_point_clouds =
00068       lua_parameter_dictionary->GetNonNegativeInt("num_point_clouds");
00069   options.rangefinder_sampling_ratio =
00070       lua_parameter_dictionary->GetDouble("rangefinder_sampling_ratio");
00071   options.odometry_sampling_ratio =
00072       lua_parameter_dictionary->GetDouble("odometry_sampling_ratio");
00073   options.fixed_frame_pose_sampling_ratio =
00074       lua_parameter_dictionary->GetDouble("fixed_frame_pose_sampling_ratio");
00075   options.imu_sampling_ratio =
00076       lua_parameter_dictionary->GetDouble("imu_sampling_ratio");
00077   options.landmarks_sampling_ratio =
00078       lua_parameter_dictionary->GetDouble("landmarks_sampling_ratio");
00079   CheckTrajectoryOptions(options);
00080   return options;
00081 }
00082 }  // namespace cartographer_ros