msg.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef GRAPH_MAPPING_UTILS_MSG_H
#define GRAPH_MAPPING_UTILS_MSG_H

#include <graph_mapping_msgs/Node.h>
#include <graph_mapping_msgs/Edge.h>
#include <graph_mapping_msgs/NodePoses.h>
#include "geometry.h"
#include <boost/lexical_cast.hpp>
#include <boost/format.hpp>


namespace graph_mapping_utils
{

using graph_mapping_msgs::Node;
using graph_mapping_msgs::Edge;
using graph_mapping_msgs::PoseWithPrecision;
using graph_mapping_msgs::NodePoses;
using std::string;

inline
Node makeNode (unsigned n)
{
  Node node;
  node.id = n;
  return node;
}

inline
Edge makeEdge (unsigned e, unsigned from, unsigned to, const PoseWithPrecision& constraint)
{
  Edge edge;
  edge.id = e;
  edge.constraint.src = from;
  edge.constraint.dest = to;
  edge.constraint.constraint = constraint;
  return edge;
}

inline
unsigned index(const unsigned i, const unsigned j)
{
  return 6*i + j;
}

inline
boost::array<double, 36> makePrecisionMatrix (const double x, const double y, const double xy, const double theta)
{
  boost::array<double, 36> prec;
  std::fill(prec.begin(), prec.end(), 0.0);
  prec[index(0,0)] = x;
  prec[index(1,1)] = y;
  prec[index(0,1)] = xy;
  prec[index(1,0)] = xy;
  prec[index(5,5)] = theta;

  return prec;
}


typedef std::map<unsigned, tf::Pose> NodePoseMap;
NodePoseMap fromMsg (const NodePoses& poses);
NodePoses::ConstPtr toMsg (const NodePoseMap& poses);

struct InvalidGraphLocalizationException: public std::logic_error
{
  InvalidGraphLocalizationException (const string& frame) :
    std::logic_error((boost::format("Frame %1% is not of form nodeXXX")
                      % frame).str())
  {}
};

inline
unsigned refNode (const geometry_msgs::PoseStamped& p)
{
  try
  {
    return boost::lexical_cast<unsigned>((p.header.frame_id.c_str()+4));
  }
  catch (boost::bad_lexical_cast&)
  {
    throw InvalidGraphLocalizationException(p.header.frame_id);
  }
}

inline
string nodeFrame (const unsigned n)
{
  return ("node" + boost::lexical_cast<string>(n));
}

inline
tf::Pose optimizedPose (const gm::PoseStamped& loc,
                        const std::map<unsigned, tf::Pose>& opt_poses)
{
  const tf::Pose& ref_pose = keyValue(opt_poses, refNode(loc));
  return toPose(transformPose(ref_pose, loc.pose));
}


} // namespace

#endif // include guard

---

graph_mapping_utils
Author(s): Bhaskara Marthi
autogenerated on Fri Jan 11 09:58:48 2013