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make minimum_travel_heading work #451

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make minimum_travel_heading work #451

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48bcc19
make minimum_travel_heading work
zengxiaolei Nov 10, 2021
2df77a3
adding fix for heading difference calculation
zengxiaolei Nov 11, 2021
d580049
normalize HeadingDifference
zengxiaolei Jun 20, 2023
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10 changes: 10 additions & 0 deletions slam_toolbox/lib/karto_sdk/include/karto_sdk/Karto.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2171,6 +2171,16 @@ namespace karto
return m_Position.SquaredDistance(rOther.m_Position);
}

/**
* Return the heading difference between two Pose2 (in radians)
* @return heading difference
*/
inline kt_double HeadingDifference(const Pose2& rOther) const
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{
const double h_Diff = fmod((m_Heading - rOther.m_Heading) + M_PI, 2.0 * M_PI);
return (h_Diff <= 0.0) ? fabs(h_Diff + M_PI) : fabs(h_Diff - M_PI);
}

public:
/**
* Assignment operator
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5 changes: 3 additions & 2 deletions slam_toolbox/src/slam_toolbox_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -416,6 +416,7 @@ bool SlamToolbox::shouldProcessScan(
static ros::Time last_scan_time = ros::Time(0.);
static const double dist_thresh_sq = smapper_->getMapper()->getParamMinimumTravelDistance()*
smapper_->getMapper()->getParamMinimumTravelDistance();
static const double head_thresh = smapper_->getMapper()->getParamMinimumTravelHeading();

// we give it a pass on the first measurement to get the ball rolling
if (first_measurement_)
Expand Down Expand Up @@ -446,8 +447,8 @@ bool SlamToolbox::shouldProcessScan(

// check moved enough, within 10% for correction error
const double sq_dist_to_last_accepted_pose = last_pose.SquaredDistance(pose);

if(sq_dist_to_last_accepted_pose < 0.8 * dist_thresh_sq || scan->header.seq < 5)
const double head_to_last_accepted_pose = last_pose.HeadingDifference(pose) / M_PI * 180;
if((sq_dist_to_last_accepted_pose < 0.8 * dist_thresh_sq && head_to_last_accepted_pose < head_thresh) || scan->header.seq < 5)
{
return false;
}
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