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refactor(mpf::predictor) resampling interval control in out of resamp…
…ler (autowarefoundation#20) * resampling interval management should be done out of resample() Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * resampler class throw exeption rather than optional Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * split files for resampling_history Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * split files for experimental/suspention_adaptor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
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...filter/include/modularized_particle_filter/prediction/experimental/suspension_adaptor.hpp
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
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| #pragma once | ||
| #include <rclcpp/rclcpp.hpp> | ||
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| #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp> | ||
| #include <sensor_msgs/msg/image.hpp> | ||
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| #include <optional> | ||
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| namespace pcdless::modularized_particle_filter | ||
| { | ||
| struct SwapModeAdaptor | ||
| { | ||
| using Image = sensor_msgs::msg::Image; | ||
| using PoseCovStamped = geometry_msgs::msg::PoseWithCovarianceStamped; | ||
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| SwapModeAdaptor(rclcpp::Node * node) : logger_(rclcpp::get_logger("swap_adaptor")) | ||
| { | ||
| auto on_ekf_pose = [this](const PoseCovStamped & pose) -> void { init_pose_opt_ = pose; }; | ||
| auto on_image = [this](const Image & msg) -> void { | ||
| stamp_opt_ = rclcpp::Time(msg.header.stamp); | ||
| }; | ||
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| sub_image_ = node->create_subscription<Image>("image", 1, on_image); | ||
| sub_pose_ = node->create_subscription<PoseCovStamped>("pose_cov", 1, on_ekf_pose); | ||
| clock_ = node->get_clock(); | ||
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| state_is_active = false; | ||
| state_is_activating = false; | ||
| } | ||
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| std::optional<rclcpp::Time> stamp_opt_{std::nullopt}; | ||
| std::optional<PoseCovStamped> init_pose_opt_{std::nullopt}; | ||
| rclcpp::Subscription<PoseCovStamped>::SharedPtr sub_pose_; | ||
| rclcpp::Subscription<Image>::SharedPtr sub_image_; | ||
| rclcpp::Clock::SharedPtr clock_; | ||
| rclcpp::Logger logger_; | ||
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| bool state_is_active; | ||
| bool state_is_activating; | ||
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| PoseCovStamped init_pose() { return init_pose_opt_.value(); } | ||
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| bool should_call_initialize() | ||
| { | ||
| if (state_is_activating && init_pose_opt_.has_value()) { | ||
| if (!state_is_active) { | ||
| state_is_active = true; | ||
| state_is_activating = false; | ||
| return true; | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
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| bool should_keep_update() | ||
| { | ||
| if (!stamp_opt_.has_value()) { | ||
| RCLCPP_INFO_STREAM_THROTTLE(logger_, *clock_, 1000, "yabloc should stop"); | ||
| state_is_active = false; | ||
| return false; | ||
| } | ||
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| const double dt = (clock_->now() - stamp_opt_.value()).seconds(); | ||
| if (dt > 3) { | ||
| RCLCPP_INFO_STREAM_THROTTLE(logger_, *clock_, 1000, "yabloc should stop"); | ||
| state_is_active = false; | ||
| return false; | ||
| } else { | ||
| RCLCPP_INFO_STREAM_THROTTLE(logger_, *clock_, 1000, "yabloc should keep estimation"); | ||
| state_is_activating = true; | ||
| return true; | ||
| } | ||
| } | ||
| }; | ||
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| } // namespace pcdless::modularized_particle_filter |
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...zed_particle_filter/include/modularized_particle_filter/prediction/resampling_history.hpp
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| @@ -0,0 +1,72 @@ | ||
| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
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| #ifndef MODULARIZED_PARTICLE_FILTER__PREDICTION__RESAMPLING_HISTORY_HPP_ | ||
| #define MODULARIZED_PARTICLE_FILTER__PREDICTION__RESAMPLING_HISTORY_HPP_ | ||
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| #include <algorithm> | ||
| #include <numeric> | ||
| #include <vector> | ||
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| namespace pcdless::modularized_particle_filter | ||
| { | ||
| class ResamplingHistory | ||
| { | ||
| public: | ||
| ResamplingHistory(int max_history_num, int number_of_particles) | ||
| : max_history_num_(max_history_num), number_of_particles_(number_of_particles) | ||
| { | ||
| resampling_history_.resize(max_history_num); | ||
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| for (auto & generation : resampling_history_) { | ||
| generation.resize(number_of_particles); | ||
| std::iota(generation.begin(), generation.end(), 0); | ||
| } | ||
| } | ||
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| bool check_history_validity() const | ||
| { | ||
| for (auto & generation : resampling_history_) { | ||
| bool result = std::any_of(generation.begin(), generation.end(), [this](int x) { | ||
| return x < 0 || x >= number_of_particles_; | ||
| }); | ||
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| if (result) { | ||
| return false; | ||
| } | ||
| } | ||
| return true; | ||
| } | ||
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| std::vector<int> & operator[](int generation_id) | ||
| { | ||
| return resampling_history_.at(generation_id % max_history_num_); | ||
| } | ||
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| const std::vector<int> & operator[](int generation_id) const | ||
| { | ||
| return resampling_history_.at(generation_id % max_history_num_); | ||
| } | ||
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| private: | ||
| // Number of updates to keep resampling history. | ||
| // Resampling records prior to this will not be kept. | ||
| const int max_history_num_; | ||
| const int number_of_particles_; | ||
| std::vector<std::vector<int>> resampling_history_; | ||
| }; | ||
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| } // namespace pcdless::modularized_particle_filter | ||
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| #endif // MODULARIZED_PARTICLE_FILTER__PREDICTION__RESAMPLING_HISTORY_HPP_ |
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