CFixedIntervalsNRD.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef CFIXEDINTERVALSNRD_H
#define CFIXEDINTERVALSNRD_H

#include <mrpt/obs/CObservationOdometry.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CRawlog.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/CConfigFile.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/utils/types_simple.h>

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

#include <iostream>

namespace mrpt
{
namespace graphslam
{
namespace 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 (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 */
        typedef mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>
                node_reg;

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

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

        /**\brief Class constructor */
        CFixedIntervalsNRD();
        /**\brief Class destructor */
        ~CFixedIntervalsNRD();

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

        /**\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);

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

                void loadFromConfigFile(
                        const mrpt::utils::CConfigFileBase& source,
                        const std::string& section);
                void dumpToTextStream(mrpt::utils::CStream& out) const;
                /**\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;
        };

        // Public members
        // ////////////////////////////
        TParams params;

   protected:
        // protected functions
        //////////////////////////////////////////////////////////////
        /**\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();
        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;
        /**\} */

        // protected members
        //////////////////////////////////////////////////////////////

        /**\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;
};
}
}
}  // end of namespaces

#include "CFixedIntervalsNRD_impl.h"
#endif /* end of include guard: CFIXEDINTERVALSNRD_H */