OdometryLIOSAM.h

/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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
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(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
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*/
 
#ifndef ODOMETRYLIOSAM_H_
#define ODOMETRYLIOSAM_H_
 
#include <rtabmap/core/Odometry.h>
 
#ifdef RTABMAP_LIOSAM
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <vector>
namespace lio_sam { class LioSamCore; }
#endif
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT OdometryLIOSAM : public Odometry
{
public:
  OdometryLIOSAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
  virtual ~OdometryLIOSAM();
 
  virtual void reset(const Transform & initialPose = Transform::getIdentity());
  virtual Odometry::Type getType() {return Odometry::kTypeLIOSAM;}
  virtual bool canProcessAsyncIMU() const {return true;}
 
private:
  virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
 
#ifdef RTABMAP_LIOSAM
  bool init(const Transform & imuLocalTransform, const Transform & lidarLocalTransform);
#endif
 
private:
#ifdef RTABMAP_LIOSAM
  lio_sam::LioSamCore * lioSam_;
  Transform lastPose_;
  bool lost_;
  float linVar_;
  float angVar_;
  ParametersMap parameters_;
  Transform imuLocalTransform_; // base_link -> imu_link (cached for deferred init)
 
  // Buffered IMU samples received before initialization
  struct ImuSample {
    double stamp;
    Eigen::Vector3d acc;
    Eigen::Vector3d gyro;
    Eigen::Quaterniond orientation;
  };
  std::vector<ImuSample> imuBuffer_;
#endif
};
 
}
 
#endif /* ODOMETRYLIOSAM_H_ */