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00001 //================================================================================================= 00002 // Copyright (c) 2011, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_POSE_ESTIMATION_HEIGHT_H 00030 #define HECTOR_POSE_ESTIMATION_HEIGHT_H 00031 00032 #include <hector_pose_estimation/measurement.h> 00033 #include <bfl/wrappers/matrix/matrix_wrapper.h> 00034 00035 namespace hector_pose_estimation { 00036 00037 class HeightModel : public MeasurementModel { 00038 public: 00039 static const unsigned int MeasurementDimension = 1; 00040 typedef ColumnVector_<MeasurementDimension> MeasurementVector; 00041 typedef SymmetricMatrix_<MeasurementDimension> NoiseCovariance; 00042 00043 HeightModel(); 00044 virtual ~HeightModel(); 00045 00046 virtual bool init(); 00047 virtual SystemStatus getStatusFlags() const; 00048 00049 virtual ColumnVector ExpectedValueGet() const; 00050 virtual Matrix dfGet(unsigned int i) const; 00051 00052 void setElevation(double elevation) { elevation_ = elevation; } 00053 double getElevation() const { return elevation_; } 00054 00055 protected: 00056 double stddev_; 00057 double elevation_; 00058 }; 00059 00060 class HeightBaroCommon 00061 { 00062 public: 00063 HeightBaroCommon(Measurement *measurement); 00064 virtual ~HeightBaroCommon(); 00065 00066 void onReset(); 00067 double resetElevation(PoseEstimation &estimator, boost::function<double()> altitude_func); 00068 00069 private: 00070 bool auto_elevation_; 00071 bool elevation_initialized_; 00072 }; 00073 00074 class Height : public Measurement_<HeightModel>, HeightBaroCommon 00075 { 00076 public: 00077 Height(const std::string& name = "height") : Measurement_<HeightModel>(name), HeightBaroCommon(this) {} 00078 virtual ~Height() {} 00079 00080 void setElevation(double elevation) { getModel()->setElevation(elevation); } 00081 double getElevation() const { return getModel()->getElevation(); } 00082 00083 virtual void onReset(); 00084 virtual bool beforeUpdate(PoseEstimation &estimator, const Update &update); 00085 }; 00086 00087 } // namespace hector_pose_estimation 00088 00089 #endif // HECTOR_POSE_ESTIMATION_HEIGHT_H