101 lines
3.6 KiB
C++
101 lines
3.6 KiB
C++
/*
|
|
* Copyright 2016 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_MAPPING_TRAJECTORY_BUILDER_H_
|
|
#define CARTOGRAPHER_MAPPING_TRAJECTORY_BUILDER_H_
|
|
|
|
#include <functional>
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include "cartographer/common/lua_parameter_dictionary.h"
|
|
#include "cartographer/common/make_unique.h"
|
|
#include "cartographer/common/port.h"
|
|
#include "cartographer/common/time.h"
|
|
#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
|
|
#include "cartographer/mapping/submaps.h"
|
|
#include "cartographer/sensor/data.h"
|
|
#include "cartographer/sensor/point_cloud.h"
|
|
#include "cartographer/sensor/range_data.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping {
|
|
|
|
proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
|
|
common::LuaParameterDictionary* const parameter_dictionary);
|
|
|
|
// This interface is used for both 2D and 3D SLAM.
|
|
class TrajectoryBuilder {
|
|
public:
|
|
// Represents a newly computed pose. 'pose' is the end-user visualization of
|
|
// orientation and 'point_cloud' is the point cloud, in the local map frame.
|
|
struct PoseEstimate {
|
|
PoseEstimate() = default;
|
|
PoseEstimate(common::Time time, const transform::Rigid3d& pose,
|
|
const sensor::PointCloud& point_cloud)
|
|
: time(time), pose(pose), point_cloud(point_cloud) {}
|
|
|
|
common::Time time = common::Time::min();
|
|
transform::Rigid3d pose = transform::Rigid3d::Identity();
|
|
sensor::PointCloud point_cloud;
|
|
};
|
|
|
|
struct SubmapData {
|
|
const Submap* submap;
|
|
transform::Rigid3d pose;
|
|
};
|
|
|
|
TrajectoryBuilder() {}
|
|
virtual ~TrajectoryBuilder() {}
|
|
|
|
TrajectoryBuilder(const TrajectoryBuilder&) = delete;
|
|
TrajectoryBuilder& operator=(const TrajectoryBuilder&) = delete;
|
|
|
|
virtual int num_submaps() = 0;
|
|
virtual SubmapData GetSubmapData(int submap_index) = 0;
|
|
virtual const PoseEstimate& pose_estimate() const = 0;
|
|
|
|
virtual void AddSensorData(const string& sensor_id,
|
|
std::unique_ptr<sensor::Data> data) = 0;
|
|
|
|
void AddRangefinderData(const string& sensor_id, common::Time time,
|
|
const Eigen::Vector3f& origin,
|
|
const sensor::PointCloud& ranges) {
|
|
AddSensorData(sensor_id,
|
|
common::make_unique<sensor::Data>(
|
|
time, sensor::Data::Rangefinder{origin, ranges}));
|
|
}
|
|
|
|
void AddImuData(const string& sensor_id, common::Time time,
|
|
const Eigen::Vector3d& linear_acceleration,
|
|
const Eigen::Vector3d& angular_velocity) {
|
|
AddSensorData(sensor_id, common::make_unique<sensor::Data>(
|
|
time, sensor::Data::Imu{linear_acceleration,
|
|
angular_velocity}));
|
|
}
|
|
|
|
void AddOdometerData(const string& sensor_id, common::Time time,
|
|
const transform::Rigid3d& odometer_pose) {
|
|
AddSensorData(sensor_id,
|
|
common::make_unique<sensor::Data>(time, odometer_pose));
|
|
}
|
|
};
|
|
|
|
} // namespace mapping
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_MAPPING_TRAJECTORY_BUILDER_H_
|