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 <tf2/buffer_core.h>
#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)
  {
    PoseT ret;

    try {
      // attempt to get transform at a given point.
      ret = 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 &) {
      ret = this->impl().extrapolate(tf_graph, time_point, target_frame, source_frame);
    }

    return ret;
  }
};

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_