GraftImuTopic.h

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/*
 * Author: Chad Rockey
 */

#ifndef GRAFT_INCLUDE_GRAFT_GRAFT_IMU_TOPIC_H
#define GRAFT_INCLUDE_GRAFT_GRAFT_IMU_TOPIC_H

#include <graft/GraftSensor.h>
#include <ros/ros.h>
#include <Eigen/Dense>
#include <sensor_msgs/Imu.h>
#include <tf/transform_datatypes.h>
#include <numeric>

using namespace Eigen;

class GraftImuTopic: public GraftSensor
{
public:
  GraftImuTopic();

  ~GraftImuTopic();

  void callback(const sensor_msgs::Imu::ConstPtr& msg);

  virtual graft::GraftSensorResidual::Ptr h(const graft::GraftState& state);

  virtual graft::GraftSensorResidual::Ptr z();

  virtual void setName(const std::string& name);

  virtual std::string getName();

  virtual void clearMessage();

  //virtual MatrixXd H(graft::GraftState& state);

  //virtual MatrixXd y(graft::GraftState& predicted);

  //virtual MatrixXd R();

  //void useAbsoluteOrientation(bool absolute_orientation);

  void useDeltaOrientation(bool delta_orientation);

  //void useVelocities(bool use_velocities);

  //void useAccelerations(bool use_accelerations);

  void setTimeout(double timeout);

  void setOrientationCovariance(boost::array<double, 9>& cov);

  void setAngularVelocityCovariance(boost::array<double, 9>& cov);

  void setLinearAccelerationCovariance(boost::array<double, 9>& cov);

private:

  sensor_msgs::Imu::ConstPtr getMsg();

  ros::Subscriber sub_;
  sensor_msgs::Imu::ConstPtr msg_;
  sensor_msgs::Imu::ConstPtr last_msg_;  // Used for delta calculations

  std::string name_;
  bool absolute_orientation_;
  bool delta_orientation_;
  bool use_velocities_;
  bool use_accelerations_;
  ros::Duration timeout_;

  boost::array<double, 9> orientation_covariance_;
  boost::array<double, 9> angular_velocity_covariance_;
  boost::array<double, 9> linear_acceleration_covariance_;
};

#endif  // GRAFT_INCLUDE_GRAFT_GRAFT_IMU_TOPIC_H