90 lines
3.7 KiB
C
90 lines
3.7 KiB
C
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_COST_FUNCTIONS_COST_HELPERS_H_
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#define CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_COST_FUNCTIONS_COST_HELPERS_H_
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace mapping {
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namespace optimization {
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// Computes the error between the given relative pose and the difference of
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// poses 'start' and 'end' which are both in an arbitrary common frame.
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//
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// 'start' and 'end' poses have the format [x, y, rotation].
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template <typename T>
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static std::array<T, 3> ComputeUnscaledError(
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const transform::Rigid2d& relative_pose, const T* const start,
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const T* const end);
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template <typename T>
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std::array<T, 3> ScaleError(const std::array<T, 3>& error,
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double translation_weight, double rotation_weight);
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// Computes the error between the given relative pose and the difference of
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// poses 'start' and 'end' which are both in an arbitrary common frame.
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//
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// 'start' and 'end' translation has the format [x, y, z].
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// 'start' and 'end' rotation are quaternions in the format [w, n_1, n_2, n_3].
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template <typename T>
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static std::array<T, 6> ComputeUnscaledError(
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const transform::Rigid3d& relative_pose, const T* const start_rotation,
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const T* const start_translation, const T* const end_rotation,
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const T* const end_translation);
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template <typename T>
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std::array<T, 6> ScaleError(const std::array<T, 6>& error,
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double translation_weight, double rotation_weight);
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// Computes spherical linear interpolation of unit quaternions.
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//
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// 'start' and 'end' are quaternions in the format [w, n_1, n_2, n_3].
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template <typename T>
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std::array<T, 4> SlerpQuaternions(const T* const start, const T* const end,
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double factor);
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// Interpolates 3D poses. Linear interpolation is performed for translation and
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// spherical-linear one for rotation.
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template <typename T>
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std::tuple<std::array<T, 4> /* rotation */, std::array<T, 3> /* translation */>
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InterpolateNodes3D(const T* const prev_node_rotation,
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const T* const prev_node_translation,
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const T* const next_node_rotation,
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const T* const next_node_translation,
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const double interpolation_parameter);
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// Embeds 2D poses into 3D and interpolates them. Linear interpolation is
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// performed for translation and spherical-linear one for rotation.
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template <typename T>
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std::tuple<std::array<T, 4> /* rotation */, std::array<T, 3> /* translation */>
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InterpolateNodes2D(const T* const prev_node_pose,
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const Eigen::Quaterniond& prev_node_gravity_alignment,
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const T* const next_node_pose,
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const Eigen::Quaterniond& next_node_gravity_alignment,
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const double interpolation_parameter);
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} // namespace optimization
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} // namespace mapping
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} // namespace cartographer
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#include "cartographer/mapping/internal/optimization/cost_functions/cost_helpers_impl.h"
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#endif // CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_COST_FUNCTIONS_COST_HELPERS_H_
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