118 lines
4.4 KiB
C++
118 lines
4.4 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_OPTIMIZATION_PROBLEM_2D_H_
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#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_OPTIMIZATION_PROBLEM_2D_H_
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#include <array>
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#include <deque>
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#include <map>
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#include <set>
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#include <vector>
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/common/port.h"
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/id.h"
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#include "cartographer/mapping/pose_graph/proto/optimization_problem_options.pb.h"
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#include "cartographer/mapping/pose_graph_interface.h"
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#include "cartographer/sensor/imu_data.h"
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#include "cartographer/sensor/map_by_time.h"
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#include "cartographer/sensor/odometry_data.h"
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#include "cartographer/transform/timestamped_transform.h"
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namespace cartographer {
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namespace mapping {
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namespace pose_graph {
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// Implements the SPA loop closure method.
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class OptimizationProblem2D {
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public:
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using Constraint = PoseGraphInterface::Constraint;
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using LandmarkNode = PoseGraphInterface::LandmarkNode;
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struct NodeData {
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common::Time time;
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transform::Rigid2d initial_pose;
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transform::Rigid2d pose;
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Eigen::Quaterniond gravity_alignment;
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};
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struct SubmapData {
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transform::Rigid2d global_pose;
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};
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explicit OptimizationProblem2D(
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const pose_graph::proto::OptimizationProblemOptions& options);
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~OptimizationProblem2D();
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OptimizationProblem2D(const OptimizationProblem2D&) = delete;
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OptimizationProblem2D& operator=(const OptimizationProblem2D&) = delete;
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void AddImuData(int trajectory_id, const sensor::ImuData& imu_data);
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void AddOdometryData(int trajectory_id,
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const sensor::OdometryData& odometry_data);
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void AddTrajectoryNode(int trajectory_id, common::Time time,
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const transform::Rigid2d& initial_pose,
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const transform::Rigid2d& pose,
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const Eigen::Quaterniond& gravity_alignment);
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void InsertTrajectoryNode(const NodeId& node_id, common::Time time,
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const transform::Rigid2d& initial_pose,
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const transform::Rigid2d& pose,
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const Eigen::Quaterniond& gravity_alignment);
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void TrimTrajectoryNode(const NodeId& node_id);
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void AddSubmap(int trajectory_id,
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const transform::Rigid2d& global_submap_pose);
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void InsertSubmap(const SubmapId& submap_id,
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const transform::Rigid2d& global_submap_pose);
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void TrimSubmap(const SubmapId& submap_id);
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void SetMaxNumIterations(int32 max_num_iterations);
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// Optimizes the global poses.
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void Solve(const std::vector<Constraint>& constraints,
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const std::set<int>& frozen_trajectories,
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const std::map<std::string, LandmarkNode>& landmark_nodes);
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const MapById<NodeId, NodeData>& node_data() const;
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const MapById<SubmapId, SubmapData>& submap_data() const;
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const std::map<std::string, transform::Rigid3d>& landmark_data() const;
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const sensor::MapByTime<sensor::ImuData>& imu_data() const;
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const sensor::MapByTime<sensor::OdometryData>& odometry_data() const;
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private:
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std::unique_ptr<transform::Rigid3d> InterpolateOdometry(
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int trajectory_id, common::Time time) const;
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// Uses odometry if available, otherwise the local SLAM results.
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transform::Rigid3d ComputeRelativePose(
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int trajectory_id, const NodeData& first_node_data,
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const NodeData& second_node_data) const;
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pose_graph::proto::OptimizationProblemOptions options_;
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MapById<NodeId, NodeData> node_data_;
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MapById<SubmapId, SubmapData> submap_data_;
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std::map<std::string, transform::Rigid3d> landmark_data_;
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sensor::MapByTime<sensor::ImuData> imu_data_;
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sensor::MapByTime<sensor::OdometryData> odometry_data_;
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};
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} // namespace pose_graph
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_OPTIMIZATION_PROBLEM_2D_H_
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