78 lines
2.8 KiB
C++
78 lines
2.8 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_3D_LOCAL_TRAJECTORY_BUILDER_INTERFACE_H_
|
|
#define CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_INTERFACE_H_
|
|
|
|
#include <memory>
|
|
#include <vector>
|
|
|
|
#include "cartographer/common/time.h"
|
|
#include "cartographer/mapping/global_trajectory_builder_interface.h"
|
|
#include "cartographer/mapping_3d/submaps.h"
|
|
#include "cartographer/sensor/laser.h"
|
|
#include "cartographer/transform/rigid_transform.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping_3d {
|
|
|
|
class LocalTrajectoryBuilderInterface {
|
|
public:
|
|
using PoseEstimate = mapping::GlobalTrajectoryBuilderInterface::PoseEstimate;
|
|
|
|
struct InsertionResult {
|
|
common::Time time;
|
|
sensor::LaserFan3D laser_fan_in_tracking;
|
|
transform::Rigid3d pose_observation;
|
|
kalman_filter::PoseCovariance covariance_estimate;
|
|
const Submaps* submaps;
|
|
const Submap* matching_submap;
|
|
std::vector<const Submap*> insertion_submaps;
|
|
};
|
|
|
|
virtual ~LocalTrajectoryBuilderInterface() {}
|
|
|
|
LocalTrajectoryBuilderInterface(const LocalTrajectoryBuilderInterface&) =
|
|
delete;
|
|
LocalTrajectoryBuilderInterface& operator=(
|
|
const LocalTrajectoryBuilderInterface&) = delete;
|
|
|
|
virtual void AddImuData(common::Time time,
|
|
const Eigen::Vector3d& linear_acceleration,
|
|
const Eigen::Vector3d& angular_velocity) = 0;
|
|
virtual std::unique_ptr<InsertionResult> AddLaserFan3D(
|
|
common::Time time, const sensor::LaserFan3D& laser_fan) = 0;
|
|
virtual void AddOdometerPose(
|
|
common::Time time, const transform::Rigid3d& pose,
|
|
const kalman_filter::PoseCovariance& covariance) = 0;
|
|
|
|
// Register a 'trajectory_node_index' from the SparsePoseGraph corresponding
|
|
// to the latest inserted laser scan. This is used to remember which
|
|
// trajectory node should be used to visualize a Submap.
|
|
virtual void AddTrajectoryNodeIndex(int trajectory_node_index) = 0;
|
|
virtual mapping_3d::Submaps* submaps() = 0;
|
|
virtual const PoseEstimate& pose_estimate() const = 0;
|
|
virtual kalman_filter::PoseTracker* pose_tracker() const = 0;
|
|
|
|
protected:
|
|
LocalTrajectoryBuilderInterface() {}
|
|
};
|
|
|
|
} // namespace mapping_3d
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_INTERFACE_H_
|