ndt_config.hpp

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// Copyright 2020 the Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
#ifndef NDT__NDT_CONFIG_HPP_
#define NDT__NDT_CONFIG_HPP_
 
#include <ndt/ndt_common.hpp>
#include <voxel_grid/config.hpp>
#include <utility>
 
namespace autoware
{
namespace localization
{
namespace ndt
{
class NDTLocalizerConfigBase
{
public:
  using MapConfig = perception::filters::voxel_grid::Config;
 
  NDTLocalizerConfigBase(
    MapConfig && map_config,
    std::chrono::nanoseconds guess_time_tolerance)
  : m_map_config{std::forward<MapConfig>(map_config)},
    m_guess_time_tol{guess_time_tolerance} {}
 
  NDTLocalizerConfigBase(
    const MapConfig & map_config,
    std::chrono::nanoseconds guess_time_tolerance)
  : m_map_config{map_config},
    m_guess_time_tol{guess_time_tolerance}
  {}
 
  // TODO(yunus.caliskan): Consider delegating map config get/set to the implementation
  // when map types with different configuration needs are added.
  const MapConfig & map_config() const noexcept
  {
    return m_map_config;
  }
 
  const std::chrono::nanoseconds & guess_time_tolerance() const noexcept
  {
    return m_guess_time_tol;
  }
 
private:
  MapConfig m_map_config;
  std::chrono::nanoseconds m_guess_time_tol;
};
 
 
class NDT_PUBLIC P2DNDTOptimizationConfig
{
public:
  explicit P2DNDTOptimizationConfig(Real outlier_ratio)
  : m_outlier_ratio{outlier_ratio} {}
 
  Real outlier_ratio() const noexcept {return m_outlier_ratio;}
 
private:
  Real m_outlier_ratio;
};
 
 
class NDT_PUBLIC P2DNDTLocalizerConfig : public NDTLocalizerConfigBase
{
public:
  using MapConfig = perception::filters::voxel_grid::Config;
 
  P2DNDTLocalizerConfig(
    const MapConfig & map_config,
    const uint32_t scan_capacity,
    std::chrono::nanoseconds guess_time_tolerance)
  : NDTLocalizerConfigBase{map_config, guess_time_tolerance},
    m_scan_capacity(scan_capacity) {}
 
  uint32_t scan_capacity() const noexcept
  {
    return m_scan_capacity;
  }
 
private:
  uint32_t m_scan_capacity;
};
 
}  // namespace ndt
}  // namespace localization
}  // namespace autoware
 
#endif  // NDT__NDT_CONFIG_HPP_