CNodeRegistrationDecider.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 CNODEREGISTRATIONDECIDER_H
#define CNODEREGISTRATIONDECIDER_H

#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CObservation.h>

#include "CRegistrationDeciderOrOptimizer.h"

namespace mrpt::graphslam::deciders
{
/**\brief Interface for implementing node registration classes.
 *
 * CNodeRegistrationDecider provides the basic methods that have to exist in
 * every node registration decider class. For an example of inheriting from
 * this class see CFixedIntervalsNRD.
 *
 * \note As a naming convention, all the implemented node registration deciders
 * are suffixed with the NRD acronym.
 *
 * \ingroup mrpt_graphslam_grp
 */
template <class GRAPH_T>
class CNodeRegistrationDecider
    : public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T>
{
   public:
    /**\brief Handy typedefs */
    /**\{*/
    /**\brief Parent of current class */
    using parent_t = mrpt::graphslam::CRegistrationDeciderOrOptimizer<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::CMatrixFixedNumeric<
        double, constraint_t::state_length, constraint_t::state_length>;
    /**\}*/

    /**\brief Default class constructor.*/
    CNodeRegistrationDecider();
    /**\brief Default class destructor.*/
    virtual ~CNodeRegistrationDecider();
    /**\brief Getter method for fetching the currently estimated robot position.
     *
     * In single-robot situations this is most likely going to be the last
     * registered node position + an position/uncertainty increment from that
     * position
     */
    virtual global_pose_t getCurrentRobotPosEstimation() const;
    /**\brief Generic method for fetching the incremental action-observations
     * (or observation-only) depending on the rawlog format readings from the
     * calling function.
     *
     * Implementations of this interface should use (part of) the specified
     * parameters and call the checkRegistrationCondition to check for
     * potential node registration
     *
     * \return True upon successful node registration in the graph
     */
    virtual bool updateState(
        mrpt::obs::CActionCollection::Ptr action,
        mrpt::obs::CSensoryFrame::Ptr observations,
        mrpt::obs::CObservation::Ptr observation) = 0;
    virtual void getDescriptiveReport(std::string* report_str) const;

   protected:
    /**\brief Reset the given PDF method and assign a fixed high-certainty
     * Covariance/Information matrix
     */
    void resetPDF(constraint_t* c);
    /**\brief Check whether a new node should be registered in the
     * graph.
     *
     * This should be the key-method in any implementation of this
     * interface. Should call registerNewNodeAtEnd method if the registration
     * condition is satisfied.
     *
     * \return True upon successful node registration in the graph
     */
    virtual bool checkRegistrationCondition();
    /**\brief Utility methods for adding new poses to the graph.
     */
    /**\{*/
    /** Add a new constraint at the end of the graph.
     * \param[in] constraint Constraint transformation from the latest
     * registered to the new node.
     *
     * \return True upon successful node registration.
     */
    bool registerNewNodeAtEnd(const typename GRAPH_T::constraint_t& constraint);
    /**\brief Same goal as the previous method - uses the m_since_prev_node_PDF
     * as the constraint at the end.
     */
    bool registerNewNodeAtEnd();
    /**\brief Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields
     *
     * \note Users are encouraged to override this method in case they have
     * defined a new TNodeAnnotations struct and want to use this metadata in
     * the graph nodes.
     */
    virtual void addNodeAnnotsToPose(global_pose_t* pose) const;
    /**\}*/

    /**\brief Store the last registered NodeID.
     *
     * We don't store its pose since it will most likely change due to calls to
     * the
     * graph-optimization procedure / dijkstra_node_estimation
     */
    mrpt::graphs::TNodeID m_prev_registered_nodeID;
    /**\brief Tracking the PDF of the current position of the robot with
     * regards to the <b previous registered node</b>.
     */
    constraint_t m_since_prev_node_PDF;
    /**\brief Initial information matrix for paths
     *
     * Large values for this indicate that I am sure of the corresponding
     * (initial) pose
     */
    inf_mat_t m_init_inf_mat;
};
}
#include "CNodeRegistrationDecider_impl.h"

#endif /* end of include guard: CNODEREGISTRATIONDECIDER_H */