MapRepSingleMap.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 _hectormaprepsinglemap_h__
00030 #define _hectormaprepsinglemap_h__
00031 
00032 #include "MapRepresentationInterface.h"
00033 
00034 #include "../map/GridMap.h"
00035 #include "../map/OccGridMapUtilConfig.h"
00036 #include "../matcher/ScanMatcher.h"
00037 
00038 #include "../util/DrawInterface.h"
00039 #include "../util/HectorDebugInfoInterface.h"
00040 
00041 namespace hectorslam{
00042 
00043 class MapRepSingleMap : public MapRepresentationInterface
00044 {
00045 
00046 public:
00047   MapRepSingleMap(float mapResolution, DrawInterface* drawInterfaceIn, HectorDebugInfoInterface* debugInterfaceIn)
00048   {
00049     gridMap = new hectorslam::GridMap(mapResolution,Eigen::Vector2i(1024,1024), Eigen::Vector2f(20.0f, 20.0f));
00050     gridMapUtil = new OccGridMapUtilConfig<GridMap>(gridMap);
00051     scanMatcher = new hectorslam::ScanMatcher<OccGridMapUtilConfig<GridMap> >(drawInterfaceIn, debugInterfaceIn);
00052   }
00053 
00054   virtual ~MapRepSingleMap()
00055   {
00056     delete gridMap;
00057     delete gridMapUtil;
00058     delete scanMatcher;
00059   }
00060 
00061   virtual void reset()
00062   {
00063     gridMap->reset();
00064     gridMapUtil->resetCachedData();
00065   }
00066 
00067   virtual float getScaleToMap() const { return gridMap->getScaleToMap(); };
00068 
00069   virtual int getMapLevels() const { return 1; };
00070   virtual const GridMap& getGridMap(int mapLevel) const { return *gridMap; };
00071 
00072   virtual void onMapUpdated()
00073   {
00074     gridMapUtil->resetCachedData();
00075   }
00076 
00077   virtual Eigen::Vector3f matchData(const Eigen::Vector3f& beginEstimateWorld, const DataContainer& dataContainer, Eigen::Matrix3f& covMatrix)
00078   {
00079     return scanMatcher->matchData(beginEstimateWorld, *gridMapUtil, dataContainer, covMatrix, 20);
00080   }
00081 
00082   virtual void updateByScan(const DataContainer& dataContainer, const Eigen::Vector3f& robotPoseWorld)
00083   {
00084     gridMap->updateByScan(dataContainer, robotPoseWorld);
00085   }
00086 
00087 protected:
00088   GridMap* gridMap;
00089   OccGridMapUtilConfig<GridMap>* gridMapUtil;
00090   ScanMatcher<OccGridMapUtilConfig<GridMap> >* scanMatcher;
00091 };
00092 
00093 }
00094 
00095 #endif
00096 
00097 
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hector_mapping
Author(s): Stefan Kohlbrecher
autogenerated on Mon Jul 15 2013 16:52:03