84 lines
2.7 KiB
C++
84 lines
2.7 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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#include "cartographer/transform/transform_interpolation_buffer.h"
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#include <algorithm>
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/transform/transform.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace transform {
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TransformInterpolationBuffer::TransformInterpolationBuffer(
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const mapping::proto::Trajectory& trajectory) {
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for (const mapping::proto::Trajectory::Node& node : trajectory.node()) {
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Push(common::FromUniversal(node.timestamp()),
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transform::ToRigid3(node.pose()));
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}
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}
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void TransformInterpolationBuffer::Push(const common::Time time,
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const transform::Rigid3d& transform) {
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if (!timestamped_transforms_.empty()) {
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CHECK_GE(time, latest_time()) << "New transform is older than latest.";
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}
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timestamped_transforms_.push_back(TimestampedTransform{time, transform});
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}
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bool TransformInterpolationBuffer::Has(const common::Time time) const {
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if (timestamped_transforms_.empty()) {
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return false;
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}
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return earliest_time() <= time && time <= latest_time();
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}
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transform::Rigid3d TransformInterpolationBuffer::Lookup(
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const common::Time time) const {
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CHECK(Has(time)) << "Missing transform for: " << time;
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const auto end = std::lower_bound(
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timestamped_transforms_.begin(), timestamped_transforms_.end(), time,
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[](const TimestampedTransform& timestamped_transform,
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const common::Time time) {
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return timestamped_transform.time < time;
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});
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if (end->time == time) {
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return end->transform;
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}
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const auto start = std::prev(end);
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return Interpolate(*start, *end, time).transform;
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}
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common::Time TransformInterpolationBuffer::earliest_time() const {
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CHECK(!empty()) << "Empty buffer.";
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return timestamped_transforms_.front().time;
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}
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common::Time TransformInterpolationBuffer::latest_time() const {
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CHECK(!empty()) << "Empty buffer.";
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return timestamped_transforms_.back().time;
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}
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bool TransformInterpolationBuffer::empty() const {
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return timestamped_transforms_.empty();
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}
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} // namespace transform
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} // namespace cartographer
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