state.h

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/*

Copyright (c) 2010, Stephan Weiss, ASL, ETH Zurich, Switzerland
You can contact the author at <stephan dot weiss at ieee dot org>

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of ETHZ-ASL nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*/

#ifndef STATE_H_
#define STATE_H_

#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <vector>
#include <ssf_core/eigen_conversions.h>
#include <sensor_fusion_comm/ExtState.h>
#include <sensor_fusion_comm/DoubleArrayStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

#define N_STATE 25 /// error state size

namespace ssf_core
{
class State
{
public:
  // states varying during propagation
  Eigen::Matrix<double, 3, 1> p_;         
  Eigen::Matrix<double, 3, 1> v_;         
  Eigen::Quaternion<double> q_;           
  Eigen::Matrix<double, 3, 1> b_w_;       
  Eigen::Matrix<double, 3, 1> b_a_;       

  // states not varying during propagation
  double L_;                              
  Eigen::Quaternion<double> q_wv_;        
  Eigen::Quaternion<double> q_ci_;        
  Eigen::Matrix<double, 3, 1> p_ci_;      

  // system inputs
  Eigen::Matrix<double,3,1> w_m_;         
  Eigen::Matrix<double,3,1> a_m_;         

  Eigen::Quaternion<double> q_int_;       

  Eigen::Matrix<double, N_STATE, N_STATE> P_;

  double time_; 


  void reset();

  void getPoseCovariance(geometry_msgs::PoseWithCovariance::_covariance_type & cov);


  void toPoseMsg(geometry_msgs::PoseWithCovarianceStamped & pose);


  void toExtStateMsg(sensor_fusion_comm::ExtState & state);


  void toStateMsg(sensor_fusion_comm::DoubleArrayStamped & state);



};

}

#endif /* STATE_H_ */