103 lines
3.8 KiB
C++
Executable File
103 lines
3.8 KiB
C++
Executable File
/*
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* Copyright 2018 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_IMU_BASED_POSE_EXTRAPOLATOR_H_
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#define CARTOGRAPHER_MAPPING_IMU_BASED_POSE_EXTRAPOLATOR_H_
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#include <deque>
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#include <memory>
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#include <vector>
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#include "cartographer/common/internal/ceres_solver_options.h"
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#include "cartographer/common/histogram.h"
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#include "cartographer/mapping/pose_extrapolator_interface.h"
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#include "cartographer/sensor/imu_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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// Uses the linear acceleration and rotational velocities to estimate a pose.
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class ImuBasedPoseExtrapolator : public PoseExtrapolatorInterface {
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public:
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explicit ImuBasedPoseExtrapolator(
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const proto::ImuBasedPoseExtrapolatorOptions& options);
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~ImuBasedPoseExtrapolator() override;
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static std::unique_ptr<PoseExtrapolatorInterface> InitializeWithImu(
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const proto::ImuBasedPoseExtrapolatorOptions& options,
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const std::vector<sensor::ImuData>& imu_data,
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const std::vector<transform::TimestampedTransform>& initial_poses);
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// Returns the time of the last added pose or Time::min() if no pose was added
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// yet.
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common::Time GetLastPoseTime() const override;
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common::Time GetLastExtrapolatedTime() const override;
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void AddPose(common::Time time, const transform::Rigid3d& pose) override;
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void AddImuData(const sensor::ImuData& imu_data) override;
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void AddOdometryData(const sensor::OdometryData& odometry_data) override;
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transform::Rigid3d ExtrapolatePose(common::Time time) override;
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ExtrapolationResult ExtrapolatePosesWithGravity(
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const std::vector<common::Time>& times) override;
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// Gravity alignment estimate.
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Eigen::Quaterniond EstimateGravityOrientation(common::Time time) override;
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private:
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template <typename T>
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void TrimDequeData(std::deque<T>* data);
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void TrimImuData();
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void TrimOdometryData();
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// Odometry methods.
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bool HasOdometryData() const;
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bool HasOdometryDataForTime(const common::Time& first_time) const;
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transform::Rigid3d InterpolateOdometry(const common::Time& first_time) const;
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transform::Rigid3d CalculateOdometryBetweenNodes(
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const transform::Rigid3d& first_node_odometry,
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const transform::Rigid3d& second_node_odometry) const;
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std::vector<transform::Rigid3f> InterpolatePoses(
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const ::cartographer::transform::TimestampedTransform& start,
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const ::cartographer::transform::TimestampedTransform& end,
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const std::vector<common::Time>::const_iterator times_begin,
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const std::vector<common::Time>::const_iterator times_end);
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std::deque<::cartographer::transform::TimestampedTransform> timed_pose_queue_;
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std::deque<::cartographer::transform::TimestampedTransform>
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previous_solution_;
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std::deque<sensor::ImuData> imu_data_;
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std::deque<sensor::OdometryData> odometry_data_;
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common::Time last_extrapolated_time_ = common::Time::min();
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transform::Rigid3d gravity_from_local_ = transform::Rigid3d::Identity();
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const proto::ImuBasedPoseExtrapolatorOptions options_;
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const ceres::Solver::Options solver_options_;
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common::Histogram num_iterations_hist_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_IMU_BASED_POSE_EXTRAPOLATOR_H_
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