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00029 #ifndef HECTOR_POSE_ESTIMATION_TYPES_H
00030 #define HECTOR_POSE_ESTIMATION_TYPES_H
00031
00032 #include <hector_pose_estimation/matrix.h>
00033 #include <hector_pose_estimation/collection.h>
00034
00035 namespace hector_pose_estimation {
00036
00037 enum VectorIndex {
00038 X = 0,
00039 Y = 1,
00040 Z = 2,
00041 W = 3
00042 };
00043
00044 enum {
00045 STATUS_ALIGNMENT = 0x1,
00046 STATUS_DEGRADED = 0x2,
00047 STATUS_READY = 0x4,
00048 STATUS_MASK = 0xf,
00049
00050 STATE_ROLLPITCH = 0x10,
00051 STATE_YAW = 0x20,
00052 STATE_RATE_XY = 0x100,
00053 STATE_RATE_Z = 0x200,
00054 STATE_VELOCITY_XY = 0x1000,
00055 STATE_VELOCITY_Z = 0x2000,
00056 STATE_POSITION_XY = 0x10000,
00057 STATE_POSITION_Z = 0x20000,
00058 STATE_MASK = 0x33330,
00059
00060 STATE_PSEUDO_ROLLPITCH = 0x40,
00061 STATE_PSEUDO_YAW = 0x80,
00062 STATE_PSEUDO_RATE_XY = 0x400,
00063 STATE_PSEUDO_RATE_Z = 0x800,
00064 STATE_PSEUDO_VELOCITY_XY = 0x4000,
00065 STATE_PSEUDO_VELOCITY_Z = 0x8000,
00066 STATE_PSEUDO_POSITION_XY = 0x40000,
00067 STATE_PSEUDO_POSITION_Z = 0x80000,
00068 STATE_PSEUDO_MASK = 0xcccc0
00069 };
00070 typedef unsigned int SystemStatus;
00071
00072 std::string getSystemStatusString(const SystemStatus& status, const SystemStatus& asterisk_status = 0);
00073 static inline std::ostream& operator<<(std::ostream& os, const SystemStatus& status) {
00074 return os << getSystemStatusString(status);
00075 }
00076
00077 class Model;
00078
00079 class SystemModel;
00080 class System;
00081 template <class Derived> class System_;
00082 typedef boost::shared_ptr<System> SystemPtr;
00083 typedef boost::weak_ptr<System> SystemWPtr;
00084 typedef Collection<System> Systems;
00085
00086 class MeasurementModel;
00087 class MeasurementUpdate;
00088 class Measurement;
00089 template <class Derived> class Measurement_;
00090 typedef boost::shared_ptr<Measurement> MeasurementPtr;
00091 typedef boost::weak_ptr<Measurement> MeasurementWPtr;
00092 typedef Collection<Measurement> Measurements;
00093
00094 class Input;
00095 typedef boost::shared_ptr<Input> InputPtr;
00096 typedef boost::weak_ptr<Input> InputWPtr;
00097 typedef Collection<Input> Inputs;
00098
00099 class PoseEstimation;
00100 class Filter;
00101 typedef boost::shared_ptr<Filter> FilterPtr;
00102 class State;
00103 typedef boost::shared_ptr<State> StatePtr;
00104
00105 class SubState;
00106 template <int VectorDimension, int CovarianceDimension> class SubState_;
00107 class BaseState;
00108 typedef boost::shared_ptr<SubState> SubStatePtr;
00109 typedef boost::weak_ptr<SubState> SubStateWPtr;
00110
00111 class GlobalReference;
00112 typedef boost::shared_ptr<GlobalReference> GlobalReferencePtr;
00113
00114 }
00115
00116 #endif // HECTOR_POSE_ESTIMATION_TYPES_H