cartographer/cartographer/mapping/2d/submap_2d.h

108 lines
4.1 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_2D_SUBMAP_2D_H_
#define CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_
#include <memory>
#include <vector>
#include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping/2d/grid_2d.h"
#include "cartographer/mapping/2d/map_limits.h"
#include "cartographer/mapping/proto/2d/submaps_options_2d.pb.h"
#include "cartographer/mapping/proto/serialization.pb.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/range_data_inserter_interface.h"
#include "cartographer/mapping/submaps.h"
#include "cartographer/mapping/trajectory_node.h"
#include "cartographer/mapping/value_conversion_tables.h"
#include "cartographer/sensor/range_data.h"
#include "cartographer/transform/rigid_transform.h"
namespace cartographer {
namespace mapping {
proto::SubmapsOptions2D CreateSubmapsOptions2D(
common::LuaParameterDictionary* parameter_dictionary);
class Submap2D : public Submap {
public:
Submap2D(const Eigen::Vector2f& origin, std::unique_ptr<Grid2D> grid,
ValueConversionTables* conversion_tables);
explicit Submap2D(const proto::Submap2D& proto,
ValueConversionTables* conversion_tables);
proto::Submap ToProto(bool include_grid_data) const override;
void UpdateFromProto(const proto::Submap& proto) override;
void ToResponseProto(const transform::Rigid3d& global_submap_pose,
proto::SubmapQuery::Response* response) const override;
const Grid2D* grid() const { return grid_.get(); }
// Insert 'range_data' into this submap using 'range_data_inserter'. The
// submap must not be finished yet.
void InsertRangeData(const sensor::RangeData& range_data,
const RangeDataInserterInterface* range_data_inserter);
void Finish();
private:
std::unique_ptr<Grid2D> grid_;
ValueConversionTables* conversion_tables_;
};
// The first active submap will be created on the insertion of the first range
// data. Except during this initialization when no or only one single submap
// exists, there are always two submaps into which range data is inserted: an
// old submap that is used for matching, and a new one, which will be used for
// matching next, that is being initialized.
//
// Once a certain number of range data have been inserted, the new submap is
// considered initialized: the old submap is no longer changed, the "new" submap
// is now the "old" submap and is used for scan-to-map matching. Moreover, a
// "new" submap gets created. The "old" submap is forgotten by this object.
class ActiveSubmaps2D {
public:
explicit ActiveSubmaps2D(const proto::SubmapsOptions2D& options);
ActiveSubmaps2D(const ActiveSubmaps2D&) = delete;
ActiveSubmaps2D& operator=(const ActiveSubmaps2D&) = delete;
// Inserts 'range_data' into the Submap collection.
std::vector<std::shared_ptr<const Submap2D>> InsertRangeData(
const sensor::RangeData& range_data);
std::vector<std::shared_ptr<const Submap2D>> submaps() const;
private:
std::unique_ptr<RangeDataInserterInterface> CreateRangeDataInserter();
std::unique_ptr<GridInterface> CreateGrid(const Eigen::Vector2f& origin);
void FinishSubmap();
void AddSubmap(const Eigen::Vector2f& origin);
const proto::SubmapsOptions2D options_;
std::vector<std::shared_ptr<Submap2D>> submaps_;
std::unique_ptr<RangeDataInserterInterface> range_data_inserter_;
ValueConversionTables conversion_tables_;
};
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_