KFModelLoader.hpp
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, LABUST, UNIZG-FER
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the LABUST nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 #ifndef KFMODELLOADER_HPP_
00035 #define KFMODELLOADER_HPP_
00036 #include <labust/navigation/KFBase.hpp>
00037 #include <labust/tools/MatrixLoader.hpp>
00038 #include <ros/ros.h>
00039 
00040 namespace labust
00041 {
00042   namespace navigation
00043   {
00044         template <class ModelType>
00045         void kfModelLoader(ModelType& model, const ros::NodeHandle& nh, const std::string& group = "")
00046         {
00047                 std::string ns(group);
00048                 if (!ns.empty() && (ns.at(ns.length()-1) != '/')) ns+="/";
00049 
00050                 labust::tools::getMatrixParam(nh, ns+"Q", model.Q);
00051                 model.W = ModelType::matrix::Identity(model.Q.rows(), model.Q.cols());
00052                 labust::tools::getMatrixParam(nh, ns+"R", model.R0);
00053                 model.V0 = ModelType::matrix::Identity(model.R.rows(), model.R.cols());
00054                 model.H0 = ModelType::matrix::Identity(model.R.rows(), model.Q.cols());
00055 
00056                 //Optional parameters
00057                 if (nh.hasParam(ns+"W"))        labust::tools::getMatrixParam(nh, ns+"W", model.W);
00058                 if (nh.hasParam(ns+"V"))        labust::tools::getMatrixParam(nh, ns+"V", model.V0);
00059                 if (nh.hasParam(ns+"H"))        labust::tools::getMatrixParam(nh, ns+"H", model.H0);
00060                 if (nh.hasParam(ns+"P"))
00061                 {
00062                         typename ModelType::matrix P;
00063                         labust::tools::getMatrixParam(nh, ns+"P", P);
00064                         model.setStateCovariance(P);
00065                 }
00066                 if (nh.hasParam(ns+"x0"))
00067                 {
00068                         typename ModelType::vector x0;
00069                         labust::tools::getMatrixParam(nh, ns+"x0", x0);
00070                         model.setState(x0);
00071                 }
00072 
00073                 //Set changeable
00074                 model.R = model.R0;
00075                 model.V = model.V0;
00076                 model.H = model.H0;
00077 
00078                 nh.param("sampling_time",model.Ts,0.1);
00079         }
00080   };
00081 }
00082 /* KFMODELLOADER_HPP_ */
00083 #endif


labust_navigation
Author(s): Gyula Nagy
autogenerated on Fri Feb 7 2014 11:36:19