00001 //================================================================================================= 00002 // Copyright (c) 2013, 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/filter/ekf.h> 00030 00031 namespace hector_pose_estimation { 00032 namespace filter { 00033 00034 EKF::EKF() 00035 {} 00036 00037 EKF::~EKF() 00038 {} 00039 00040 bool EKF::init(PoseEstimation &estimator) 00041 { 00042 x_pred.resize(state_.getDimension()); 00043 x_pred.setZero(); 00044 A.resize(state_.getDimension(), state_.getDimension()); 00045 A.setZero(); 00046 Q.resize(state_.getDimension()); 00047 Q.setZero(); 00048 return true; 00049 } 00050 00051 bool EKF::doPredict(double dt) { 00052 ROS_DEBUG("EKF prediction (dt = %f):", dt); 00053 00054 ROS_DEBUG_STREAM("A = [" << A << "]"); 00055 ROS_DEBUG_STREAM("Q = [" << Q << "]"); 00056 00057 state().P() = A * state().P().selfadjointView<Upper>() * A.transpose() + Q; 00058 state().x() = x_pred; 00059 00060 ROS_DEBUG_STREAM("x_pred = [" << state().getVector().transpose() << "]"); 00061 ROS_DEBUG_STREAM("P_pred = [" << state().getCovariance() << "]"); 00062 00063 Filter::doPredict(dt); 00064 return true; 00065 } 00066 00067 } // namespace filter 00068 } // namespace hector_pose_estimation