99 lines
3.8 KiB
C++
Executable File
99 lines
3.8 KiB
C++
Executable File
/*
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* Copyright 2017 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_POSE_EXTRAPOLATOR_H_
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#define CARTOGRAPHER_MAPPING_POSE_EXTRAPOLATOR_H_
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#include <deque>
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#include <memory>
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/imu_tracker.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/sensor/odometry_data.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace mapping {
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// Keep poses for a certain duration to estimate linear and angular velocity.
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// Uses the velocities to extrapolate motion. Uses IMU and/or odometry data if
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// available to improve the extrapolation.
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class PoseExtrapolator : public PoseExtrapolatorInterface {
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public:
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explicit PoseExtrapolator(common::Duration pose_queue_duration,
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double imu_gravity_time_constant);
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PoseExtrapolator(const PoseExtrapolator&) = delete;
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PoseExtrapolator& operator=(const PoseExtrapolator&) = delete;
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static std::unique_ptr<PoseExtrapolator> InitializeWithImu(
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common::Duration pose_queue_duration, double imu_gravity_time_constant,
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const sensor::ImuData& imu_data);
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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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// Returns the current gravity alignment estimate as a rotation from
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// the tracking frame into a gravity aligned frame.
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Eigen::Quaterniond EstimateGravityOrientation(common::Time time) override;
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private:
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void UpdateVelocitiesFromPoses();
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void TrimImuData();
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void TrimOdometryData();
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void AdvanceImuTracker(common::Time time, ImuTracker* imu_tracker) const;
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Eigen::Quaterniond ExtrapolateRotation(common::Time time,
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ImuTracker* imu_tracker) const;
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Eigen::Vector3d ExtrapolateTranslation(common::Time time);
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const common::Duration pose_queue_duration_;
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struct TimedPose {
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common::Time time;
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transform::Rigid3d pose;
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};
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std::deque<TimedPose> timed_pose_queue_;
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Eigen::Vector3d linear_velocity_from_poses_ = Eigen::Vector3d::Zero();
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Eigen::Vector3d angular_velocity_from_poses_ = Eigen::Vector3d::Zero();
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const double gravity_time_constant_;
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std::deque<sensor::ImuData> imu_data_;
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std::unique_ptr<ImuTracker> imu_tracker_;
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std::unique_ptr<ImuTracker> odometry_imu_tracker_;
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std::unique_ptr<ImuTracker> extrapolation_imu_tracker_;
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TimedPose cached_extrapolated_pose_;
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std::deque<sensor::OdometryData> odometry_data_;
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Eigen::Vector3d linear_velocity_from_odometry_ = Eigen::Vector3d::Zero();
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Eigen::Vector3d angular_velocity_from_odometry_ = Eigen::Vector3d::Zero();
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_POSE_EXTRAPOLATOR_H_
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