gravity.h

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

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// modification, are permitted provided that the following conditions are met:
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//       TU Darmstadt, nor the names of its contributors may be used to
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#ifndef HECTOR_POSE_ESTIMATION_GRAVITY_H
#define HECTOR_POSE_ESTIMATION_GRAVITY_H

#include <hector_pose_estimation/measurement.h>

namespace hector_pose_estimation {

class GravityModel : public MeasurementModel_<GravityModel,3> {
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  using MeasurementModel_<GravityModel,3>::MeasurementVector;
  using MeasurementModel_<GravityModel,3>::NoiseVariance;

  GravityModel();
  virtual ~GravityModel();

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

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

  virtual bool active(const State &state) { return true; } // always update, even during alignment
  virtual SystemStatus getStatusFlags() { return STATE_PSEUDO_ROLLPITCH; }

  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);

protected:
  double stddev_;
  std::string use_bias_;
  MeasurementVector gravity_;
  SubState_<3>::Ptr bias_;
};

typedef Measurement_<GravityModel> Gravity;
extern template class Measurement_<GravityModel>;

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_GRAVITY_H