MapProcContainer.h
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00001 //=================================================================================================
00002 // Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
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 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef _hectormapproccontainer_h__
00030 #define _hectormapproccontainer_h__
00031 
00032 #include "../map/GridMap.h"
00033 #include "../map/OccGridMapUtilConfig.h"
00034 #include "../matcher/ScanMatcher.h"
00035 #include "../util/MapLockerInterface.h"
00036 
00037 class GridMap;
00038 class ConcreteOccGridMapUtil;
00039 class DataContainer;
00040 
00041 namespace hectorslam{
00042 
00043 class MapProcContainer
00044 {
00045 public:
00046   MapProcContainer(GridMap* gridMapIn, OccGridMapUtilConfig<GridMap>* gridMapUtilIn, ScanMatcher<OccGridMapUtilConfig<GridMap> >* scanMatcherIn)
00047     : gridMap(gridMapIn)
00048     , gridMapUtil(gridMapUtilIn)
00049     , scanMatcher(scanMatcherIn)
00050     , mapMutex(0)
00051   {}
00052 
00053   virtual ~MapProcContainer()
00054   {}
00055 
00056   void cleanup()
00057   {
00058     delete gridMap;
00059     delete gridMapUtil;
00060     delete scanMatcher;
00061 
00062     if (mapMutex){
00063       delete mapMutex;
00064     }
00065   }
00066 
00067   void reset()
00068   {
00069     gridMap->reset();
00070     gridMapUtil->resetCachedData();
00071   }
00072 
00073   void resetCachedData()
00074   {
00075     gridMapUtil->resetCachedData();
00076   }
00077 
00078   float getScaleToMap() const { return gridMap->getScaleToMap(); };
00079 
00080   const GridMap& getGridMap() const { return *gridMap; };
00081   GridMap& getGridMap() { return *gridMap; };
00082 
00083   void addMapMutex(MapLockerInterface* mapMutexIn)
00084   {
00085     if (mapMutex)
00086     {
00087       delete mapMutex;
00088     }
00089 
00090     mapMutex = mapMutexIn;
00091   }
00092 
00093   MapLockerInterface* getMapMutex()
00094   {
00095     return mapMutex;
00096   }
00097 
00098   Eigen::Vector3f matchData(const Eigen::Vector3f& beginEstimateWorld, const DataContainer& dataContainer, Eigen::Matrix3f& covMatrix, int maxIterations)
00099   {
00100     return scanMatcher->matchData(beginEstimateWorld, *gridMapUtil, dataContainer, covMatrix, maxIterations);
00101   }
00102 
00103   void updateByScan(const DataContainer& dataContainer, const Eigen::Vector3f& robotPoseWorld)
00104   {
00105     if (mapMutex)
00106     {
00107       mapMutex->lockMap();
00108     }
00109 
00110     gridMap->updateByScan(dataContainer, robotPoseWorld);
00111 
00112     if (mapMutex)
00113     {
00114       mapMutex->unlockMap();
00115     }
00116   }
00117 
00118   GridMap* gridMap;
00119   OccGridMapUtilConfig<GridMap>* gridMapUtil;
00120   ScanMatcher<OccGridMapUtilConfig<GridMap> >* scanMatcher;
00121   MapLockerInterface* mapMutex;
00122 };
00123 
00124 }
00125 
00126 #endif
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hector_mapping
Author(s): Stefan Kohlbrecher
autogenerated on Mon Jul 15 2013 16:52:03