pose_graph: spa_2d_conversion.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00031 
00038 #ifndef POSE_GRAPH_SPA_2D_CONVERSION_H
00039 #define POSE_GRAPH_SPA_2D_CONVERSION_H
00040 
00041 #ifndef NPRINT
00042 #define NPRINT
00043 
00044 
00045 #include <sba/spa2d.h>
00046 #include <pose_graph/constraint_graph.h>
00047 #include <geometry_msgs/Pose.h>
00048 #include <boost/shared_ptr.hpp>
00049 #include <map>
00050 
00051 namespace pose_graph
00052 {
00053 
00054 typedef boost::shared_ptr<sba::SysSPA2d> Spa2DPtr;
00055 typedef std::map<unsigned, unsigned> NodeIndexMap;
00056 
00060 struct Spa2DConversionResult
00061 {
00062   Spa2DPtr spa;
00063   NodeIndexMap node_index_map;
00064   Spa2DConversionResult (const Spa2DPtr& s, const NodeIndexMap& m) : spa(s), node_index_map(m) {}
00065   Spa2DConversionResult ()  {} // For convenience
00066 
00067 };
00068 
00070 tf::Pose getNodePose (const sba::Node2d& n);
00071 
00072 
00077 NodePoseMap optimizeGraph2D (const ConstraintGraph& g, const NodePoseMap& init);
00078 
00082 NodePoseMap optimizeGraph2D (const ConstraintGraph& g, const NodePoseMap& init,
00083                              const NodeSet& nodes);
00084 
00085 
00086 
00087 
00088 } // namespace pose_graph
00089 
00090 #endif // NPRINT
00091 #endif // include guard