CFixedIntervalsNRD_impl.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/CConfigFile.h>

namespace mrpt::graphslam::deciders
{
// Ctors, Dtors
//////////////////////////////////////////////////////////////

template <class GRAPH_T>
CFixedIntervalsNRD<GRAPH_T>::CFixedIntervalsNRD()
{
    this->initializeLoggers("CFixedIntervalsNRD");
}

// Member function implementations
//////////////////////////////////////////////////////////////

template <class GRAPH_T>
bool CFixedIntervalsNRD<GRAPH_T>::updateState(
    mrpt::obs::CActionCollection::Ptr action,
    mrpt::obs::CSensoryFrame::Ptr observations,
    mrpt::obs::CObservation::Ptr observation)
{
    MRPT_START
    using namespace mrpt::obs;
    using namespace mrpt::math;
    using namespace mrpt::poses;

    // don't use the measurements in this implementation
    MRPT_UNUSED_PARAM(observations);

    if (observation)
    {  // FORMAT #2 - observation-only format
        m_observation_only_rawlog = true;

        if (IS_CLASS(*observation, CObservationOdometry))
        {
            CObservationOdometry::Ptr obs_odometry =
                std::dynamic_pointer_cast<CObservationOdometry>(observation);
            // not incremental - gives the absolute odometry reading
            m_curr_odometry_only_pose = pose_t(obs_odometry->odometry);
            MRPT_LOG_DEBUG_FMT(
                "Current odometry-only pose: %s",
                m_curr_odometry_only_pose.asString().c_str());

            // I don't have any information about the covariane of the move in
            // observation-only format
            this->m_since_prev_node_PDF.mean =
                m_curr_odometry_only_pose - m_last_odometry_only_pose;
        }
    }
    else
    {  // FORMAT #1 - action-observation format
        m_observation_only_rawlog = false;

        mrpt::poses::CPose3DPDFGaussian move_pdf;
        bool found = action->getFirstMovementEstimation(move_pdf);
        if (found)
        {
            // update the relative PDF of the path since the LAST node was
            // inserted
            constraint_t incr_constraint;
            incr_constraint.copyFrom(move_pdf);
            this->m_since_prev_node_PDF += incr_constraint;
        }
    }  // ELSE - FORMAT #1

    bool registered = this->checkRegistrationCondition();

    if (registered)
    {
        if (m_observation_only_rawlog)
        {
            // keep track of the odometry-only pose_t at the last inserted graph
            // node
            m_last_odometry_only_pose = m_curr_odometry_only_pose;
        }
    }

    return registered;

    MRPT_END
}  // end of updateState

template <class GRAPH_T>
bool CFixedIntervalsNRD<GRAPH_T>::checkRegistrationCondition()
{
    MRPT_START

    // check that a node has already been registered - if not, default to
    // (0,0,0)
    pose_t last_pose_inserted =
        this->m_prev_registered_nodeID != INVALID_NODEID
            ? this->m_graph->nodes.at(this->m_prev_registered_nodeID)
            : pose_t();

    // odometry criterion
    bool registered = false;

    if (this->checkRegistrationCondition(
            last_pose_inserted, this->getCurrentRobotPosEstimation()))
    {
        registered = this->registerNewNodeAtEnd();
    }

    return registered;
    MRPT_END
}  // end of checkRegistrationCondition

template <class GRAPH_T>
bool CFixedIntervalsNRD<GRAPH_T>::checkRegistrationCondition(
    const mrpt::poses::CPose2D& p1, const mrpt::poses::CPose2D& p2) const
{
    using namespace mrpt::math;

    bool res = false;
    if ((p1.distanceTo(p2) > params.registration_max_distance) ||
        (fabs(wrapToPi(p1.phi() - p2.phi())) > params.registration_max_angle))
    {
        res = true;
    }

    return res;
}  // end of checkRegistrationCondition2D

template <class GRAPH_T>
bool CFixedIntervalsNRD<GRAPH_T>::checkRegistrationCondition(
    const mrpt::poses::CPose3D& p1, const mrpt::poses::CPose3D& p2) const
{
    using namespace mrpt::math;

    bool res = false;
    if ((p1.distanceTo(p2) > params.registration_max_distance) ||
        (fabs(wrapToPi(p1.roll() - p2.roll())) >
         params.registration_max_angle) ||
        (fabs(wrapToPi(p1.pitch() - p2.pitch())) >
         params.registration_max_angle) ||
        (fabs(wrapToPi(p1.yaw() - p2.yaw())) > params.registration_max_angle))
    {
        res = true;
    }

    return res;
}  // end of checkRegistrationCondition3D

template <class GRAPH_T>
void CFixedIntervalsNRD<GRAPH_T>::loadParams(const std::string& source_fname)
{
    MRPT_START
    parent_t::loadParams(source_fname);

    params.loadFromConfigFileName(
        source_fname, "NodeRegistrationDeciderParameters");

    // set the logging level if given by the user
    mrpt::config::CConfigFile source(source_fname);
    int min_verbosity_level = source.read_int(
        "NodeRegistrationDeciderParameters", "class_verbosity", 1, false);
    this->setMinLoggingLevel(mrpt::system::VerbosityLevel(min_verbosity_level));

    MRPT_LOG_DEBUG("Successfully loaded parameters.");
    MRPT_END
}

template <class GRAPH_T>
void CFixedIntervalsNRD<GRAPH_T>::printParams() const
{
    MRPT_START
    parent_t::printParams();
    params.dumpToConsole();

    MRPT_END
}

template <class GRAPH_T>
void CFixedIntervalsNRD<GRAPH_T>::getDescriptiveReport(
    std::string* report_str) const
{
    MRPT_START
    using namespace std;

    const std::string report_sep(2, '\n');
    const std::string header_sep(80, '#');

    // Report on graph
    stringstream class_props_ss;
    class_props_ss << "Strategy: "
                   << "Fixed Odometry-based Intervals" << std::endl;
    class_props_ss << header_sep << std::endl;

    // time and output logging
    const std::string time_res = this->m_time_logger.getStatsAsText();
    const std::string output_res = this->getLogAsString();

    // merge the individual reports
    report_str->clear();
    parent_t::getDescriptiveReport(report_str);

    *report_str += class_props_ss.str();
    *report_str += report_sep;

    // configuration parameters
    *report_str += params.getAsString();
    *report_str += report_sep;

    // loggers results
    *report_str += time_res;
    *report_str += report_sep;

    *report_str += output_res;
    *report_str += report_sep;

    MRPT_END
}

template <class GRAPH_T>
void CFixedIntervalsNRD<GRAPH_T>::TParams::dumpToTextStream(
    std::ostream& out) const
{
    MRPT_START
    out << mrpt::format("%s", this->getAsString().c_str());
    MRPT_END
}
template <class GRAPH_T>
void CFixedIntervalsNRD<GRAPH_T>::TParams::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& source, const std::string& section)
{
    MRPT_START
    using namespace mrpt::math;

    registration_max_distance = source.read_double(
        section, "registration_max_distance", 0.5 /* meter */, false);
    registration_max_angle = source.read_double(
        section, "registration_max_angle", 60 /* degrees */, false);
    registration_max_angle = DEG2RAD(registration_max_angle);

    MRPT_END
}

template <class GRAPH_T>
void CFixedIntervalsNRD<GRAPH_T>::TParams::getAsString(
    std::string* params_out) const
{
    MRPT_START
    using namespace mrpt::math;

    double max_angle_deg = RAD2DEG(registration_max_angle);
    params_out->clear();

    *params_out +=
        "------------------[ Fixed Intervals Node Registration "
        "]------------------\n";
    *params_out += mrpt::format(
        "Max distance for registration = %.2f m\n", registration_max_distance);
    *params_out += mrpt::format(
        "Max angle for registration    = %.2f deg\n", max_angle_deg);

    MRPT_END
}
template <class GRAPH_T>
std::string CFixedIntervalsNRD<GRAPH_T>::TParams::getAsString() const
{
    MRPT_START

    std::string str;
    this->getAsString(&str);
    return str;

    MRPT_END
}
}  // namespace mrpt::graphslam::deciders