edge_se2_odom_differential_calib.h

Go to the documentation of this file.

// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, 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
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_EDGE_SE2_ODOM_CALIB_DIFFERENTIAL_H
#define G2O_EDGE_SE2_ODOM_CALIB_DIFFERENTIAL_H
 
#include "g2o/core/base_fixed_sized_edge.h"
#include "g2o/types/slam2d/vertex_se2.h"
#include "g2o_types_sclam2d_api.h"
#include "odometry_measurement.h"
#include "vertex_odom_differential_params.h"
 
namespace g2o {
 
class G2O_TYPES_SCLAM2D_API EdgeSE2OdomDifferentialCalib
    : public BaseFixedSizedEdge<3, VelocityMeasurement, VertexSE2, VertexSE2,
                                VertexOdomDifferentialParams> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSE2OdomDifferentialCalib();
 
  void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSE2* v2 = static_cast<const VertexSE2*>(_vertices[1]);
    const VertexOdomDifferentialParams* params =
        static_cast<const VertexOdomDifferentialParams*>(_vertices[2]);
    const SE2& x1 = v1->estimate();
    const SE2& x2 = v2->estimate();
 
    // get the calibrated motion given by the odometry
    VelocityMeasurement calibratedVelocityMeasurement(
        measurement().vl() * params->estimate()(0),
        measurement().vr() * params->estimate()(1), measurement().dt());
    MotionMeasurement mm = OdomConvert::convertToMotion(
        calibratedVelocityMeasurement, params->estimate()(2));
    SE2 Ku_ij;
    Ku_ij.fromVector(mm.measurement());
 
    SE2 delta = Ku_ij.inverse() * x1.inverse() * x2;
    _error = delta.toVector();
  }
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
};
 
#ifdef G2O_HAVE_OPENGL
class G2O_TYPES_SCLAM2D_API EdgeSE2OdomDifferentialCalibDrawAction
    : public DrawAction {
 public:
  EdgeSE2OdomDifferentialCalibDrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};
#endif
 
}  // namespace g2o
 
#endif