lidar_egomotion.h

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#ifndef _LIDAR_EGOMOTION_H_
#define _LIDAR_EGOMOTION_H_

#include <iostream>
#include <fstream>

#include <ros/ros.h>

#include <laser_geometry/laser_geometry.h>

#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>

#include <tf/transform_listener.h>

#include <pcl_ros/transforms.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>

#include <csm/csm_all.h>//needed for the PLICP algorithm, external
#include <csm/laser_data.h>//needed for the PLICP algorithm, external
#include "psm/polar_match.h"//neeeded for the psm algorithm, internal
#include "mbicp/MbICP2.h"//neeeded for the psm algorithm, internal

// #include <atlascar_base/AtlascarStatus.h>
// #include <atlascar_base/AtlascarVelocityStatus.h>

#include "motion_model.h"
#include "plplot_graph.h"
#include "types_declaration.h"

using namespace std;

void CleanZone(ray_definition*rays,double steering_angle);
void SetDefaultConfiguration(void);
void ConfigurePLICP(struct sm_params*params,LDP ref,LDP sens);
pcl::PointCloud<pcl::PointXYZ> wrapper_Laserscan2PointCloud(const sensor_msgs::LaserScan& scan);
void laser_2_Handler(const sensor_msgs::LaserScan& scan);
void laser_3_Handler(const sensor_msgs::LaserScan& scan);
// void plcStatusHandler(const atlascar_base::AtlascarStatus& scan);
// void velocityStatusHandler(const atlascar_base::AtlascarVelocityStatus& scan);

void RaysToLDP(ray_definition*src,LDP dst,bool test_angle=0,double angle=M_PI/2.5);
void RaysToLDP(ray_config_t*cfg,ray_measurment_t*src,LDP dst,bool test_angle=0,double angle=M_PI/2.5);
void RaysToPMScan(ray_config_t*cfg,ray_measurment_t*src,PMScan*dst);
void RaysToPMScan(ray_definition*src,PMScan*dst);
int RaysToMbICP(ray_config_t*cfg,ray_measurment_t*src,Tpfp*dst,bool test_angle=0,double angle=M_PI/2.2);
int RaysToMbICP(ray_definition*src,Tpfp*dst);
void ConvertEstimatedToMeasurment(double vl,double dir,float*dx,float*dy,float*dtheta,double dt,double l,double bwa);
void CreateMeasurementFromDisplacement(double dx,double dy,double dtheta,double z[2],double dt,double l,double bwa);

// extern "C" {
//      extern LDP ld_alloc_new(int nrays);
// }
#endif