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_BARO_H 00030 #define HECTOR_POSE_ESTIMATION_BARO_H 00031 00032 #include <hector_pose_estimation/measurement.h> 00033 #include <hector_pose_estimation/measurements/height.h> 00034 00035 #ifdef USE_HECTOR_UAV_MSGS 00036 #include <hector_uav_msgs/Altimeter.h> 00037 #endif 00038 00039 namespace hector_pose_estimation { 00040 00041 class BaroUpdate; 00042 00043 class BaroModel : public HeightModel 00044 { 00045 public: 00046 BaroModel(); 00047 virtual ~BaroModel(); 00048 00049 virtual void getExpectedValue(MeasurementVector& y_pred, const State& state); 00050 virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init); 00051 00052 void setQnh(double qnh) { qnh_ = qnh; } 00053 double getQnh() const { return qnh_; } 00054 00055 double getAltitude(const BaroUpdate& update); 00056 00057 protected: 00058 double qnh_; 00059 }; 00060 00061 class BaroUpdate : public Update_<BaroModel> { 00062 public: 00063 BaroUpdate(); 00064 BaroUpdate(double pressure); 00065 BaroUpdate(double pressure, double qnh); 00066 double qnh() const { return qnh_; } 00067 BaroUpdate& qnh(double qnh) { qnh_ = qnh; return *this; } 00068 00069 using Update_<BaroModel>::operator =; 00070 00071 private: 00072 double qnh_; 00073 }; 00074 00075 namespace traits { 00076 template <> struct Update<BaroModel> { typedef BaroUpdate type; }; 00077 } 00078 00079 extern template class Measurement_<BaroModel>; 00080 00081 class Baro : public Measurement_<BaroModel>, HeightBaroCommon 00082 { 00083 public: 00084 Baro(const std::string& name = "baro") : Measurement_<BaroModel>(name), HeightBaroCommon(this) {} 00085 virtual ~Baro() {} 00086 00087 void setElevation(double elevation) { getModel()->setElevation(elevation); } 00088 double getElevation() const { return getModel()->getElevation(); } 00089 00090 void setQnh(double qnh) { getModel()->setQnh(qnh); } 00091 double getQnh() const { return getModel()->getQnh(); } 00092 00093 virtual void onReset(); 00094 virtual bool prepareUpdate(State &state, const Update &update); 00095 }; 00096 00097 } // namespace hector_pose_estimation 00098 00099 #endif // HECTOR_POSE_ESTIMATION_BARO_H