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00029 #include <hector_pose_estimation/measurements/height.h>
00030 #include <hector_pose_estimation/pose_estimation.h>
00031 #include <hector_pose_estimation/global_reference.h>
00032 #include <hector_pose_estimation/filter/set_filter.h>
00033
00034 #include <ros/console.h>
00035
00036 namespace hector_pose_estimation {
00037
00038 template class Measurement_<HeightModel>;
00039
00040 HeightModel::HeightModel()
00041 {
00042 stddev_ = 10.0;
00043 elevation_ = 0.0;
00044 parameters().add("stddev", stddev_);
00045 }
00046
00047 HeightModel::~HeightModel() {}
00048
00049 void HeightModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init)
00050 {
00051 if (init) {
00052 R(0,0) = pow(stddev_, 2);
00053 }
00054 }
00055
00056 void HeightModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
00057 {
00058 y_pred(0) = state.getPosition().z() + getElevation();
00059 }
00060
00061 void HeightModel::getStateJacobian(MeasurementMatrix& C, const State& state, bool init)
00062 {
00063 if (!init) return;
00064
00065 if (state.getPositionIndex() >= 0) {
00066 C(0,State::POSITION_Z) = 1.0;
00067 }
00068 }
00069
00070 HeightBaroCommon::HeightBaroCommon(Measurement* parent)
00071 {
00072 auto_elevation_ = true;
00073 elevation_initialized_ = false;
00074 parent->parameters().add("auto_elevation", auto_elevation_);
00075 }
00076
00077 HeightBaroCommon::~HeightBaroCommon() {}
00078
00079 void HeightBaroCommon::onReset() {
00080 elevation_initialized_ = false;
00081 }
00082
00083 double HeightBaroCommon::resetElevation(const State &state, boost::function<double()> altitude_func) {
00084 if (!elevation_initialized_) {
00085 GlobalReference::Instance()->setCurrentAltitude(state, altitude_func());
00086 elevation_initialized_ = true;
00087 }
00088
00089 return GlobalReference::Instance()->position().altitude;
00090 }
00091
00092 void Height::onReset() {
00093 HeightBaroCommon::onReset();
00094 }
00095
00096 template <typename T> struct functor_wrapper
00097 {
00098 functor_wrapper(const T& value) : value(value) {}
00099 T& operator()() { return value; }
00100 const T& operator()() const { return value; }
00101 private:
00102 T value;
00103 };
00104
00105 bool Height::prepareUpdate(State &state, const Update &update) {
00106 setElevation(resetElevation(state, functor_wrapper<double>(update.getVector()(0))));
00107 return true;
00108 }
00109
00110 }