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112 lines
4.6 KiB
C++
112 lines
4.6 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ODOMETRYEVENT_H_
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#define ODOMETRYEVENT_H_
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#include "rtabmap/utilite/UEvent.h"
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#include "rtabmap/utilite/ULogger.h"
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#include "rtabmap/utilite/UMath.h"
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#include "rtabmap/core/SensorData.h"
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#include "rtabmap/core/OdometryInfo.h"
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namespace rtabmap {
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class OdometryEvent : public UEvent
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{
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public:
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OdometryEvent()
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{
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_info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
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}
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OdometryEvent(
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const SensorData & data,
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const Transform & pose,
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const OdometryInfo & info = OdometryInfo()) :
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_data(data),
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_pose(pose),
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_info(info)
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{
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if(_info.reg.covariance.empty())
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{
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_info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
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}
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UASSERT(_info.reg.covariance.cols == 6 && _info.reg.covariance.rows == 6 && _info.reg.covariance.type() == CV_64FC1);
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UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(0,0)) && _info.reg.covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
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UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(1,1)) && _info.reg.covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
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UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(2,2)) && _info.reg.covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
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UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(3,3)) && _info.reg.covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
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UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(4,4)) && _info.reg.covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
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UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(5,5)) && _info.reg.covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
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}
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virtual ~OdometryEvent() {}
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virtual std::string getClassName() const {return "OdometryEvent";}
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SensorData & data() {return _data;}
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const SensorData & data() const {return _data;}
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const Transform & pose() const {return _pose;}
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const cv::Mat & covariance() const {return _info.reg.covariance;}
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std::vector<float> velocity() const {
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if(_info.interval>0.0)
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{
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std::vector<float> velocity(6,0);
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float x,y,z,roll,pitch,yaw;
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_info.transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
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velocity[0] = x/_info.interval;
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velocity[1] = y/_info.interval;
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velocity[2] = z/_info.interval;
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velocity[3] = roll/_info.interval;
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velocity[4] = pitch/_info.interval;
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velocity[5] = yaw/_info.interval;
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return velocity;
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}
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return std::vector<float>();
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}
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const OdometryInfo & info() const {return _info;}
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private:
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SensorData _data;
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Transform _pose;
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OdometryInfo _info;
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};
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class OdometryResetEvent : public UEvent
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{
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public:
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OdometryResetEvent(const Transform & pose = Transform::getIdentity()){_pose = pose;}
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virtual ~OdometryResetEvent() {}
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virtual std::string getClassName() const {return "OdometryResetEvent";}
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const Transform & getPose() const {return _pose;}
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private:
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Transform _pose;
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};
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}
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#endif /* ODOMETRYEVENT_H_ */
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