$search
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 #include <hector_pose_estimation/measurements/rate.h> 00030 00031 namespace hector_pose_estimation { 00032 00033 RateModel::RateModel() 00034 : MeasurementModel(MeasurementDimension) 00035 { 00036 parameters().add("stddev", stddev_, 1.0*M_PI/180.0); 00037 } 00038 00039 bool RateModel::init() 00040 { 00041 NoiseCovariance noise = 0.0; 00042 noise(1,1) = noise(2,2) = noise(3,3) = pow(stddev_, 2); 00043 this->AdditiveNoiseSigmaSet(noise); 00044 return true; 00045 } 00046 00047 RateModel::~RateModel() {} 00048 00049 ColumnVector RateModel::ExpectedValueGet() const { 00050 #ifdef USE_RATE_SYSTEM_MODEL 00051 const double qw = x_(QUATERNION_W); 00052 const double qx = x_(QUATERNION_X); 00053 const double qy = x_(QUATERNION_Y); 00054 const double qz = x_(QUATERNION_Z); 00055 00056 y_(1) = (qw*qw+qx*qx-qy*qy-qz*qz) * x_(RATE_X) + (2.0*qx*qy+2.0*qw*qz) * x_(RATE_Y) + (2.0*qx*qz-2.0*qw*qy) * x_(RATE_Z) + x_(BIAS_GYRO_X); 00057 y_(2) = (2.0*qx*qy-2.0*qw*qz) * x_(RATE_X) + (qw*qw-qx*qx+qy*qy-qz*qz) * x_(RATE_Y) + (2.0*qy*qz+2.0*qw*qx) * x_(RATE_Z) + x_(BIAS_GYRO_Y); 00058 y_(3) = (2.0*qx*qz+2.0*qw*qy) * x_(RATE_X) + (2.0*qy*qz-2.0*qw*qx) * x_(RATE_Y) + (qw*qw-qx*qx-qy*qy+qz*qz) * x_(RATE_Z) + x_(BIAS_GYRO_Z); 00059 #else // USE_RATE_SYSTEM_MODEL 00060 y_(1) = 0.0; 00061 y_(2) = 0.0; 00062 y_(3) = 0.0; 00063 #endif // USE_RATE_SYSTEM_MODEL 00064 00065 return y_; 00066 } 00067 00068 Matrix RateModel::dfGet(unsigned int i) const { 00069 if (i != 0) return Matrix(); 00070 00071 #ifdef USE_RATE_SYSTEM_MODEL 00072 const double qw = x_(QUATERNION_W); 00073 const double qx = x_(QUATERNION_X); 00074 const double qy = x_(QUATERNION_Y); 00075 const double qz = x_(QUATERNION_Z); 00076 00077 // C_(1,QUATERNION_W) = 2.0*qw * x_(RATE_X) + 2.0*qz * x_(RATE_Y) - 2.0*qy * x_(RATE_Z); 00078 // C_(1,QUATERNION_X) = 2.0*qx * x_(RATE_X) + 2.0*qy * x_(RATE_Y) + 2.0*qz * x_(RATE_Z); 00079 // C_(1,QUATERNION_Y) = -2.0*qy * x_(RATE_X) + 2.0*qx * x_(RATE_Y) - 2.0*qw * x_(RATE_Z); 00080 // C_(1,QUATERNION_Z) = -2.0*qz * x_(RATE_X) + 2.0*qw * x_(RATE_Y) + 2.0*qx * x_(RATE_Z); 00081 // C_(2,QUATERNION_W) = -2.0*qz * x_(RATE_X) + 2.0*qw * x_(RATE_Y) + 2.0*qx * x_(RATE_Z); 00082 // C_(2,QUATERNION_X) = 2.0*qy * x_(RATE_X) - 2.0*qx * x_(RATE_Y) + 2.0*qw * x_(RATE_Z); 00083 // C_(2,QUATERNION_Y) = 2.0*qx * x_(RATE_X) + 2.0*qy * x_(RATE_Y) + 2.0*qz * x_(RATE_Z); 00084 // C_(2,QUATERNION_Z) = -2.0*qw * x_(RATE_X) - 2.0*qz * x_(RATE_Y) + 2.0*qy * x_(RATE_Z); 00085 // C_(3,QUATERNION_W) = 2.0*qy * x_(RATE_X) - 2.0*qx * x_(RATE_Y) + 2.0*qw * x_(RATE_Z); 00086 // C_(3,QUATERNION_X) = 2.0*qz * x_(RATE_X) - 2.0*qw * x_(RATE_Y) - 2.0*qx * x_(RATE_Z); 00087 // C_(3,QUATERNION_Y) = 2.0*qw * x_(RATE_X) + 2.0*qz * x_(RATE_Y) - 2.0*qy * x_(RATE_Z); 00088 // C_(3,QUATERNION_Z) = 2.0*qx * x_(RATE_X) + 2.0*qy * x_(RATE_Y) + 2.0*qz * x_(RATE_Z); 00089 00090 C_(1,RATE_X) = (qw*qw+qx*qx-qy*qy-qz*qz); 00091 C_(1,RATE_Y) = (2.0*qx*qy+2.0*qw*qz); 00092 C_(1,RATE_Z) = (2.0*qx*qz-2.0*qw*qy); 00093 C_(2,RATE_X) = (2.0*qx*qy-2.0*qw*qz); 00094 C_(2,RATE_Y) = (qw*qw-qx*qx+qy*qy-qz*qz); 00095 C_(2,RATE_Z) = (2.0*qy*qz+2.0*qw*qx); 00096 C_(3,RATE_X) = (2.0*qx*qz+2.0*qw*qy); 00097 C_(3,RATE_Y) = (2.0*qy*qz-2.0*qw*qx); 00098 C_(3,RATE_Z) = (qw*qw-qx*qx-qy*qy+qz*qz); 00099 00100 C_(1,BIAS_GYRO_X) = 1.0; 00101 C_(2,BIAS_GYRO_Y) = 1.0; 00102 C_(3,BIAS_GYRO_Z) = 1.0; 00103 #endif // USE_RATE_SYSTEM_MODEL 00104 00105 return C_; 00106 } 00107 00108 } // namespace hector_pose_estimation