generic_quaternion_system_model.h

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
// All rights reserved.

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//       TU Darmstadt, nor the names of its contributors may be used to
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#ifndef HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H
#define HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H

#include <hector_pose_estimation/system_model.h>
#include <hector_pose_estimation/system/imu_input.h>
#include <hector_pose_estimation/system/imu_model.h>

namespace hector_pose_estimation {

class GenericQuaternionSystemModel;

namespace traits {
  template <> struct Input<GenericQuaternionSystemModel> {
    enum { Dimension = ImuInput::Dimension };
    typedef ImuInput Type;
    typedef ImuInput::Vector Vector;
    typedef ImuInput::Variance Variance;
  };
} // namespace traits

class GenericQuaternionSystemModel : public TimeContinuousSystemModel_<GenericQuaternionSystemModel>
{
public:
  GenericQuaternionSystemModel();
  virtual ~GenericQuaternionSystemModel();

  virtual bool init(PoseEstimation& estimator, State& state);

  virtual void getPrior(State &state);

  virtual bool prepareUpdate(State& state, double dt);
  virtual SystemStatus getStatusFlags(const State& state);

  using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getDerivative;
  virtual void getDerivative(StateVector& x_dot, const State& state);
  using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getSystemNoise;
  virtual void getSystemNoise(NoiseVariance& Q, const State& state, bool init);
  using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getStateJacobian;
  virtual void getStateJacobian(SystemMatrix& A, const State& state, bool init);
  using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getInputJacobian;
  virtual void getInputJacobian(InputMatrix& B, const State& state, bool init);

  void setGravity(double gravity) { gravity_ = gravity; }
  double getGravity() const { return gravity_; }

protected:
  AliasT<double> gravity_;
  AliasT<double> rate_stddev_;
  AliasT<double> acceleration_stddev_;
  double angular_acceleration_stddev_;
  double velocity_stddev_;

  boost::shared_ptr<ImuInput> imu_;
  boost::shared_ptr<Gyro> gyro_;
  boost::shared_ptr<Accelerometer> accelerometer_;

  ColumnVector_<3> rate;
  ColumnVector_<3> acceleration;
  State::RotationMatrix R;
};

extern template class System_<GenericQuaternionSystemModel>;

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H