00001 /* 00002 00003 Copyright (c) 2010, Stephan Weiss, ASL, ETH Zurich, Switzerland 00004 You can contact the author at <stephan dot weiss at ieee dot org> 00005 00006 All rights reserved. 00007 00008 Redistribution and use in source and binary forms, with or without 00009 modification, are permitted provided that the following conditions are met: 00010 * Redistributions of source code must retain the above copyright 00011 notice, this list of conditions and the following disclaimer. 00012 * Redistributions in binary form must reproduce the above copyright 00013 notice, this list of conditions and the following disclaimer in the 00014 documentation and/or other materials provided with the distribution. 00015 * Neither the name of ETHZ-ASL nor the 00016 names of its contributors may be used to endorse or promote products 00017 derived from this software without specific prior written permission. 00018 00019 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00020 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00021 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00022 DISCLAIMED. IN NO EVENT SHALL ETHZ-ASL BE LIABLE FOR ANY 00023 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00024 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00025 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00026 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00027 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00029 00030 */ 00031 00032 #ifndef POSE_SENSOR_H 00033 #define POSE_SENSOR_H 00034 00035 #include <ssf_core/measurement.h> 00036 00037 class PoseSensorHandler : public ssf_core::MeasurementHandler 00038 { 00039 private: 00040 // measurements 00041 Eigen::Quaternion<double> z_q_; 00042 Eigen::Matrix<double, 3, 1> z_p_; 00043 double n_zp_, n_zq_; 00044 00045 ros::Subscriber subMeasurement_; 00046 00047 bool measurement_world_sensor_; 00048 bool use_fixed_covariance_; 00049 00050 void subscribe(); 00051 void measurementCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg); 00052 void noiseConfig(ssf_core::SSF_CoreConfig& config, uint32_t level); 00053 00054 public: 00055 PoseSensorHandler(); 00056 PoseSensorHandler(ssf_core::Measurements* meas); 00057 }; 00058 00059 #endif /* POSE_SENSOR_H */