estimate_propagator.h

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// 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
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#ifndef G2O_ESTIMATE_PROPAGATOR_H
#define G2O_ESTIMATE_PROPAGATOR_H
 
#include <limits>
#include <map>
#include <string_view>
#include <unordered_map>
 
#include "g2o_core_api.h"
#include "optimizable_graph.h"
#include "sparse_optimizer.h"
 
namespace g2o {

class G2O_CORE_API EstimatePropagatorCost {
 public:
  EstimatePropagatorCost(SparseOptimizer* graph);
  virtual double operator()(OptimizableGraph::Edge* edge,
                            const OptimizableGraph::VertexSet& from,
                            OptimizableGraph::Vertex* to_) const;
  virtual std::string_view name() const { return "spanning tree"; }
 
 protected:
  SparseOptimizer* _graph;
};

class G2O_CORE_API EstimatePropagatorCostOdometry
    : public EstimatePropagatorCost {
 public:
  EstimatePropagatorCostOdometry(SparseOptimizer* graph);
  double operator()(OptimizableGraph::Edge* edge,
                    const OptimizableGraph::VertexSet& from_,
                    OptimizableGraph::Vertex* to_) const override;
  std::string_view name() const override { return "odometry"; }
};

class G2O_CORE_API EstimatePropagator {
 public:
  struct PropagateAction {
    virtual void operator()(OptimizableGraph::Edge* e,
                            const OptimizableGraph::VertexSet& from,
                            OptimizableGraph::Vertex* to) const {
      if (!to->fixed()) e->initialEstimate(from, to);
    }
  };
 
  typedef EstimatePropagatorCost PropagateCost;
 
  class AdjacencyMapEntry;

  class PriorityQueue : public std::multimap<double, AdjacencyMapEntry*> {
   public:
    void push(AdjacencyMapEntry* entry);
    AdjacencyMapEntry* pop();
  };

  class AdjacencyMapEntry {
   public:
    friend class EstimatePropagator;
    friend class PriorityQueue;
    AdjacencyMapEntry();
    void reset();
    OptimizableGraph::Vertex* child() const { return _child; }
    const OptimizableGraph::VertexSet& parent() const { return _parent; }
    OptimizableGraph::Edge* edge() const { return _edge; }
    double distance() const { return _distance; }
    int frontierLevel() const { return _frontierLevel; }
 
   protected:
    OptimizableGraph::Vertex* _child;
    OptimizableGraph::VertexSet _parent;
    OptimizableGraph::Edge* _edge;
    double _distance;
    int _frontierLevel;
 
   private:  // for PriorityQueue
    bool inQueue;
    PriorityQueue::iterator queueIt;
  };

  class VertexIDHashFunction {
   public:
    size_t operator()(const OptimizableGraph::Vertex* v) const {
      return v->id();
    }
  };
 
  typedef std::unordered_map<OptimizableGraph::Vertex*, AdjacencyMapEntry,
                             VertexIDHashFunction>
      AdjacencyMap;
 
 public:
  EstimatePropagator(OptimizableGraph* g);
  OptimizableGraph::VertexSet& visited() { return _visited; }
  AdjacencyMap& adjacencyMap() { return _adjacencyMap; }
  OptimizableGraph* graph() { return _graph; }

  void propagate(
      OptimizableGraph::Vertex* v,
      const EstimatePropagator::PropagateCost& cost,
      const EstimatePropagator::PropagateAction& action = PropagateAction(),
      double maxDistance = std::numeric_limits<double>::max(),
      double maxEdgeCost = std::numeric_limits<double>::max());

  void propagate(
      OptimizableGraph::VertexSet& vset,
      const EstimatePropagator::PropagateCost& cost,
      const EstimatePropagator::PropagateAction& action = PropagateAction(),
      double maxDistance = std::numeric_limits<double>::max(),
      double maxEdgeCost = std::numeric_limits<double>::max());
 
 protected:
  void reset();
 
  AdjacencyMap _adjacencyMap;
  OptimizableGraph::VertexSet _visited;
  OptimizableGraph* _graph;
};
 
}  // namespace g2o
#endif