bool Mapper::reset(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
{
waitForMapBuildingCompleted();
// note: no need for locking as we do ros::spin(), to update if we go for multi-threading
publishLock.lock();
TOdomToMap = PM::TransformationParameters::Identity(4,4);
publishLock.unlock();
icp.clearMap();
return true;
}
TEST(icpTest, icpSequenceTest)
{
DP pts0 = DP::load(dataPath + "cloud.00000.vtk");
DP pts1 = DP::load(dataPath + "cloud.00001.vtk");
DP pts2 = DP::load(dataPath + "cloud.00002.vtk");
PM::TransformationParameters Ticp = PM::Matrix::Identity(4,4);
PM::ICPSequence icpSequence;
std::ifstream ifs((dataPath + "default.yaml").c_str());
icpSequence.loadFromYaml(ifs);
EXPECT_FALSE(icpSequence.hasMap());
DP map = icpSequence.getInternalMap();
EXPECT_EQ(map.getNbPoints(), 0u);
EXPECT_EQ(map.getHomogeneousDim(), 0u);
map = icpSequence.getMap();
EXPECT_EQ(map.getNbPoints(), 0u);
EXPECT_EQ(map.getHomogeneousDim(), 0u);
icpSequence.setMap(pts0);
map = icpSequence.getInternalMap();
EXPECT_EQ(map.getNbPoints(), pts0.getNbPoints());
EXPECT_EQ(map.getHomogeneousDim(), pts0.getHomogeneousDim());
Ticp = icpSequence(pts1);
map = icpSequence.getMap();
EXPECT_EQ(map.getNbPoints(), pts0.getNbPoints());
EXPECT_EQ(map.getHomogeneousDim(), pts0.getHomogeneousDim());
Ticp = icpSequence(pts2);
map = icpSequence.getMap();
EXPECT_EQ(map.getNbPoints(), pts0.getNbPoints());
EXPECT_EQ(map.getHomogeneousDim(), pts0.getHomogeneousDim());
icpSequence.clearMap();
map = icpSequence.getInternalMap();
EXPECT_EQ(map.getNbPoints(), 0u);
EXPECT_EQ(map.getHomogeneousDim(), 0u);
}
