CFixedIntervalsNRD.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CObservationOdometry.h>
#include <mrpt/obs/CSensoryFrame.h>

#include <mrpt/graphslam/interfaces/CNodeRegistrationDecider.h>

namespace mrpt::graphslam::deciders
{
/**\brief Fixed Intervals Odometry-based Node Registration
 *
 * ## Description
 *
 * Determine whether to insert a new pose in the graph given the distance and
 * angle thresholds. When the odometry readings indicate that any of the
 * thresholds has been surpassed, with regards to the previous registered
 * pose, a new node is added in the graph.
 *
 * Current decider is a minimal, simple implementation of the
 * CNodeRegistrationDecider interface which can be used for 2D datasets.
 * Decider *does not guarantee* thread safety when accessing the GRAPH_T
 * resource. This is handled by the CGraphSlamEngine instance.
 *
 * ### Specifications
 *
 * - Map type: 2D
 * - MRPT rawlog format: #1, #2
 * - Graph Type: CPosePDFGaussianInf
 * - Observations Used: CObservationOdometry, CActionRobotMovement2D
 * - Node Registration Strategy: Fixed Odometry Intervals
 *
 * ### .ini Configuration Parameters
 *
 * \htmlinclude graphslam-engine_config_params_preamble.txt
 *
 * - \b class_verbosity
 *   + \a Section       : NodeRegistrationDeciderParameters
 *   + \a Default value : 1 (mrpt::system::LVL_INFO)
 *   + \a Required      : FALSE
 *
 * - \b registration_max_distance
 *  + \a Section       : NodeRegistrationDeciderParameters
 *  + \a Default value : 0.5 // meters
 *  + \a Required      : FALSE
 *
 * - \b registration_max_angle
 *  + \a Section       : NodeRegistrationDeciderParameters
 *  + \a Default value : 60 // degrees
 *  + \a Required      : FALSE
 *
 * \ingroup mrpt_graphslam_grp
 */
template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CFixedIntervalsNRD
    : public virtual mrpt::graphslam::deciders::CNodeRegistrationDecider<
          GRAPH_T>
{
   public:
    // Public functions
    //////////////////////////////////////////////////////////////

    /**\brief Handy typedefs */
    /**\{*/
    /**\brief Node Registration Decider */
    using node_reg =
        mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>;

    /**\brief type of graph constraints */
    using constraint_t = typename GRAPH_T::constraint_t;
    /**\brief type of underlying poses (2D/3D). */
    using pose_t = typename GRAPH_T::constraint_t::type_value;
    using global_pose_t = typename GRAPH_T::global_pose_t;

    using inf_mat_t = mrpt::math::CMatrixFixed<
        double, constraint_t::state_length, constraint_t::state_length>;
    /**\brief Node Registration Decider */
    using parent_t =
        mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>;
    /**\}*/

    CFixedIntervalsNRD();
    ~CFixedIntervalsNRD() override = default;

    void loadParams(const std::string& source_fname) override;
    void printParams() const override;
    void getDescriptiveReport(std::string* report_str) const override;

    /**\brief Method makes use of the CActionCollection/CObservation to update
     * the
     * odometry estimation from the last inserted pose
     *
     * \return True upon successful node registration in the graph
     */
    bool updateState(
        mrpt::obs::CActionCollection::Ptr action,
        mrpt::obs::CSensoryFrame::Ptr observations,
        mrpt::obs::CObservation::Ptr observation) override;

    /**\brief Parameters structure for managing the relevant to the decider
     * variables in a compact manner
     */
    struct TParams : public mrpt::config::CLoadableOptions
    {
       public:
        TParams() = default;
        ~TParams() override = default;

        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;
        void dumpToTextStream(std::ostream& out) const override;
        /**\brief Return a string with the configuration parameters
         */
        void getAsString(std::string* params_out) const;
        std::string getAsString() const;

        // max values for new node registration
        double registration_max_distance;
        double registration_max_angle;
    };

    TParams params;

   protected:
    /**\name Registration Conditions Specifiers
     */
    /**\brief If estimated position surpasses the registration max values since
     * the previous registered node, register a new node in the graph.
     *
     * \return True on successful registration.
     */
    /**\{ */
    bool checkRegistrationCondition() override;
    bool checkRegistrationCondition(
        const mrpt::poses::CPose2D& p1, const mrpt::poses::CPose2D& p2) const;
    bool checkRegistrationCondition(
        const mrpt::poses::CPose3D& p1, const mrpt::poses::CPose3D& p2) const;
    /**\} */

    /**\brief pose_t estimation using only odometry information. Handy for
     * observation-only rawlogs.
     */
    pose_t m_curr_odometry_only_pose;
    /**\brief pose_t estimation using only odometry information. Handy for
     * observation-only rawlogs.
     */
    pose_t m_last_odometry_only_pose;
    /**\brief Keep track of whether we are reading from an observation-only
     * rawlog file or from an action-observation rawlog
     */
    bool m_observation_only_rawlog;
};
}  // namespace mrpt::graphslam::deciders
#include "CFixedIntervalsNRD_impl.h"