CNodeRegistrationDecider_impl.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

using namespace mrpt::graphslam::deciders;
using namespace std;

#include <sstream>

// Implementation of classes defined in the CNodeRegistrationDecider class
// template.
//
template <class GRAPH_T>
CNodeRegistrationDecider<GRAPH_T>::CNodeRegistrationDecider()
    : m_prev_registered_nodeID(INVALID_NODEID)
{
    m_init_inf_mat.setIdentity();
    m_init_inf_mat *= 10000;
    this->resetPDF(&this->m_since_prev_node_PDF);
}

template <class GRAPH_T>
void CNodeRegistrationDecider<GRAPH_T>::getDescriptiveReport(
    std::string* report_str) const
{
    MRPT_START;

    stringstream ss("");
    parent_t::getDescriptiveReport(report_str);

    ss << "Node Registration Decider Strategy [NRD]: " << endl;
    *report_str += ss.str();

    MRPT_END;
}

template <class GRAPH_T>
bool CNodeRegistrationDecider<GRAPH_T>::checkRegistrationCondition()
{
    return false;
}

template <class GRAPH_T>
bool CNodeRegistrationDecider<GRAPH_T>::registerNewNodeAtEnd(
    const typename GRAPH_T::constraint_t& constraint)
{
    MRPT_START;
    using namespace std;
    using mrpt::graphs::TNodeID;

    // register the initial node if it doesn't exist.
    // Runs only once.
    if (this->m_prev_registered_nodeID == INVALID_NODEID)
    {  // root
        MRPT_LOG_WARN("Registering root node...");
        global_pose_t tmp_pose = this->getCurrentRobotPosEstimation();
        this->addNodeAnnotsToPose(&tmp_pose);

// make sure that this pair hasn't been registered yet.
#if _DEBUG
        std::pair<typename GRAPH_T::global_poses_t::const_iterator, bool> res =
#endif
            this->m_graph->nodes.insert(
                make_pair(this->m_graph->root, tmp_pose));
        ASSERTDEBMSG_(
            res.second, mrpt::format(
                            "nodeID \"%lu\" with pose \"%s\" seems to be "
                            "already registered.",
                            this->m_graph->root, tmp_pose.asString().c_str()));

        this->m_prev_registered_nodeID = this->m_graph->root;
    }

    // FROM nodeID
    TNodeID from = this->m_prev_registered_nodeID;
    // TO nodeID
    // In all cases this is going to be ONE AFTER the last registered nodeID
    TNodeID to = this->m_graph->nodeCount();

    // add the new pose.
    {
        global_pose_t tmp_pose = this->getCurrentRobotPosEstimation();
        this->addNodeAnnotsToPose(&tmp_pose);

#if _DEBUG
        std::pair<typename GRAPH_T::global_poses_t::const_iterator, bool> res =
#endif
            this->m_graph->nodes.insert(make_pair(to, tmp_pose));
        ASSERTDEBMSG_(
            res.second, mrpt::format(
                            "nodeID \"%lu\" with pose \"%s\" seems to be "
                            "already registered.",
                            to, tmp_pose.asString().c_str()));
        this->m_graph->insertEdgeAtEnd(from, to, constraint);
    }

    m_prev_registered_nodeID = to;

    MRPT_LOG_DEBUG_STREAM(
        "Registered new node:" << endl
                               << "\t" << from << " => " << to << endl
                               << "\tEdge: "
                               << constraint.getMeanVal().asString());

    return true;
    MRPT_END;
}

template <class GRAPH_T>
bool CNodeRegistrationDecider<GRAPH_T>::registerNewNodeAtEnd()
{
    bool res = this->registerNewNodeAtEnd(this->m_since_prev_node_PDF);

    // reset the PDF since the last registered node position
    this->resetPDF(&m_since_prev_node_PDF);

    return res;
}

template <class GRAPH_T>
void CNodeRegistrationDecider<GRAPH_T>::resetPDF(constraint_t* c)
{
    MRPT_START;
    ASSERTDEB_(c);

    *c = constraint_t();
    ASSERTDEB_(c->isInfType());
    c->cov_inv = this->m_init_inf_mat;

    MRPT_END;
}  // end of resetPDF

template <class GRAPH_T>
void CNodeRegistrationDecider<GRAPH_T>::addNodeAnnotsToPose(
    global_pose_t* pose) const
{
}

template <class GRAPH_T>
typename GRAPH_T::global_pose_t
    CNodeRegistrationDecider<GRAPH_T>::getCurrentRobotPosEstimation() const
{
    global_pose_t pose_out;

    if (this->m_prev_registered_nodeID != INVALID_NODEID)
    {
        pose_out = this->m_graph->nodes.at(this->m_prev_registered_nodeID);
    }

    pose_out += m_since_prev_node_PDF.getMeanVal();
    return pose_out;
}