83 lines
3.0 KiB
C++
Executable File
83 lines
3.0 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_POSE_EXTRAPOLATOR_INTERFACE_H_
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#define CARTOGRAPHER_MAPPING_POSE_EXTRAPOLATOR_INTERFACE_H_
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#include <memory>
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#include <tuple>
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/proto/pose_extrapolator_options.pb.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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#include "cartographer/transform/timestamped_transform.h"
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namespace cartographer {
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namespace mapping {
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proto::PoseExtrapolatorOptions CreatePoseExtrapolatorOptions(
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common::LuaParameterDictionary* const parameter_dictionary);
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class PoseExtrapolatorInterface {
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public:
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struct ExtrapolationResult {
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// The poses for the requested times at index 0 to N-1.
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std::vector<transform::Rigid3f> previous_poses;
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// The pose for the requested time at index N.
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transform::Rigid3d current_pose;
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Eigen::Vector3d current_velocity;
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Eigen::Quaterniond gravity_from_tracking;
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};
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PoseExtrapolatorInterface(const PoseExtrapolatorInterface&) = delete;
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PoseExtrapolatorInterface& operator=(const PoseExtrapolatorInterface&) =
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delete;
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virtual ~PoseExtrapolatorInterface() {}
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// TODO: Remove dependency cycle.
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static std::unique_ptr<PoseExtrapolatorInterface> CreateWithImuData(
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const proto::PoseExtrapolatorOptions& 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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virtual common::Time GetLastPoseTime() const = 0;
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virtual common::Time GetLastExtrapolatedTime() const = 0;
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virtual void AddPose(common::Time time, const transform::Rigid3d& pose) = 0;
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virtual void AddImuData(const sensor::ImuData& imu_data) = 0;
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virtual void AddOdometryData(const sensor::OdometryData& odometry_data) = 0;
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virtual transform::Rigid3d ExtrapolatePose(common::Time time) = 0;
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virtual ExtrapolationResult ExtrapolatePosesWithGravity(
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const std::vector<common::Time>& times) = 0;
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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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virtual Eigen::Quaterniond EstimateGravityOrientation(common::Time time) = 0;
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protected:
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PoseExtrapolatorInterface() {}
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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_INTERFACE_H_
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