initialization.hpp

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// Copyright 2019-2020 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 LOCALIZATION_COMMON__INITIALIZATION_HPP_
#define LOCALIZATION_COMMON__INITIALIZATION_HPP_
 
#include <localization_common/visibility_control.hpp>
#include <geometry_msgs/msg/transform.hpp>
#include <helper_functions/crtp.hpp>
#include <time_utils/time_utils.hpp>
#include <tf2/buffer_core.h>
#include <experimental/optional>
#include <string>
 
// probably include the motion model
 
namespace autoware
{
namespace localization
{
namespace localization_common
{
 
template<typename Derived>
class LOCALIZATION_COMMON_PUBLIC PoseInitializerBase
  : public common::helper_functions::crtp<Derived>
{
  using PoseT = geometry_msgs::msg::TransformStamped;
 
public:
  PoseT guess(
    const tf2::BufferCore & tf_graph, tf2::TimePoint time_point,
    const std::string & target_frame, const std::string & source_frame)
  {
    try {
      // attempt to get transform at a given point.
      return tf_graph.lookupTransform(target_frame, source_frame, time_point);
      // TODO(yunus.caliskan): Consider detecting too large interpolations and issuing a
      //  warning/error.
    } catch (const tf2::ExtrapolationException &) {
      return this->impl().extrapolate(tf_graph, time_point, target_frame, source_frame);
    } catch (...) {
      if (!m_fallback_pose) {
        std::rethrow_exception(std::current_exception());
      }
      if ((m_fallback_pose->header.frame_id != target_frame) ||
        (m_fallback_pose->child_frame_id != source_frame))
      {
        throw std::runtime_error(
                "The initial pose provided to the pose initializer does not "
                "have the matching frame IDs.");
      }
      m_fallback_pose.value().header.stamp = ::time_utils::to_message(time_point);
      return m_fallback_pose.value();
    }
  }
 
  void set_fallback_pose(const PoseT & pose)
  {
    m_fallback_pose.emplace(pose);
  }
 
  PoseT get_fallback_pose(tf2::TimePoint time_point)
  {
    m_fallback_pose.value().header.stamp = ::time_utils::to_message(time_point);
    return m_fallback_pose.value();
  }
 
private:
  std::experimental::optional<PoseT> m_fallback_pose{std::experimental::nullopt};
};
 
class LOCALIZATION_COMMON_PUBLIC BestEffortInitializer
  : public PoseInitializerBase<BestEffortInitializer>
{
  using PoseT = geometry_msgs::msg::TransformStamped;
 
public:
  PoseT extrapolate(
    const tf2::BufferCore & tf_graph, tf2::TimePoint time_point,
    const std::string & target_frame, const std::string & source_frame);
};
 
}  // namespace localization_common
}  // namespace localization
}  // namespace autoware
 
#endif  // LOCALIZATION_COMMON__INITIALIZATION_HPP_