sensor_se3_prior.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#include "sensor_se3_prior.h"

namespace g2o {
  using namespace std;

  // SensorSE3Prior
  SensorSE3Prior::SensorSE3Prior(const std::string& name_): UnarySensor<Robot3D, EdgeSE3Prior>(name_) {
    _offsetParam = 0;
    _information.setIdentity();
    _information*=1000;
    _information(2,2)=10;
    setInformation(_information);
  }


  void SensorSE3Prior::addParameters(){
    if (!_offsetParam)
      _offsetParam = new ParameterSE3Offset();
    assert(world());
    world()->addParameter(_offsetParam);
  }

  void SensorSE3Prior::addNoise(EdgeType* e){
    EdgeType::ErrorVector _n=_sampler.generateSample();
    EdgeType::Measurement n = internal::fromVectorMQT(_n);
    e->setMeasurement(e->measurement()*n);
    e->setInformation(information());
  }

  void SensorSE3Prior::sense() {
    if (! _offsetParam){
      return;
    }
    _robotPoseObject=0;
    RobotType* r= dynamic_cast<RobotType*>(robot());
    std::list<PoseObject*>::reverse_iterator it=r->trajectory().rbegin();
    int count = 0;
    while (it!=r->trajectory().rend() && count < 1){
      if (!_robotPoseObject)
  _robotPoseObject = *it;
      it++;
      count++;
    }
    if (!_robotPoseObject)
      return;
    _sensorPose = _robotPoseObject->vertex()->estimate()*_offsetParam->offset();
    EdgeType* e=mkEdge();
    e->setParameterId(0,_offsetParam->id());
    if (e && graph()) {
      graph()->addEdge(e);
      e->setMeasurementFromState();
      addNoise(e);
    }
  }

}