00001 /* 00002 * Copyright (c) 2014, Charles River Analytics, Inc. 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 00007 * are met: 00008 * 00009 * 1. Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * 2. Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 3. Neither the name of the copyright holder nor the names of its 00016 * contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00020 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00021 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00022 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00023 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00024 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00025 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00026 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00027 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00028 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00029 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00030 * POSSIBILITY OF SUCH DAMAGE. 00031 */ 00032 00033 #ifndef RobotLocalization_FilterCommon_h 00034 #define RobotLocalization_FilterCommon_h 00035 00036 namespace RobotLocalization 00037 { 00040 enum StateMembers 00041 { 00042 StateMemberX = 0, 00043 StateMemberY, 00044 StateMemberZ, 00045 StateMemberRoll, 00046 StateMemberPitch, 00047 StateMemberYaw, 00048 StateMemberVx, 00049 StateMemberVy, 00050 StateMemberVz, 00051 StateMemberVroll, 00052 StateMemberVpitch, 00053 StateMemberVyaw 00054 }; 00055 00059 const int STATE_SIZE = 12; 00060 const int POSITION_OFFSET = StateMemberX; 00061 const int ORIENTATION_OFFSET = StateMemberRoll; 00062 const int POSITION_V_OFFSET = StateMemberVx; 00063 const int ORIENTATION_V_OFFSET = StateMemberVroll; 00064 00067 const int POSE_SIZE = 6; 00068 const int TWIST_SIZE = 6; 00069 const int POSITION_SIZE = 3; 00070 const int ORIENTATION_SIZE = 3; 00071 } 00072 00073 #endif