robot_localization: filter_common.h Source File

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00001 /*
00002  * Copyright (c) 2014, 2015, 2016, 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 ROBOT_LOCALIZATION_FILTER_COMMON_H
00034 #define ROBOT_LOCALIZATION_FILTER_COMMON_H
00035 
00036 namespace RobotLocalization
00037 {
00038 
00041 enum StateMembers
00042 {
00043   StateMemberX = 0,
00044   StateMemberY,
00045   StateMemberZ,
00046   StateMemberRoll,
00047   StateMemberPitch,
00048   StateMemberYaw,
00049   StateMemberVx,
00050   StateMemberVy,
00051   StateMemberVz,
00052   StateMemberVroll,
00053   StateMemberVpitch,
00054   StateMemberVyaw,
00055   StateMemberAx,
00056   StateMemberAy,
00057   StateMemberAz
00058 };
00059 
00062 enum ControlMembers
00063 {
00064   ControlMemberVx,
00065   ControlMemberVy,
00066   ControlMemberVz,
00067   ControlMemberVroll,
00068   ControlMemberVpitch,
00069   ControlMemberVyaw
00070 };
00071 
00075 const int STATE_SIZE = 15;
00076 const int POSITION_OFFSET = StateMemberX;
00077 const int ORIENTATION_OFFSET = StateMemberRoll;
00078 const int POSITION_V_OFFSET = StateMemberVx;
00079 const int ORIENTATION_V_OFFSET = StateMemberVroll;
00080 const int POSITION_A_OFFSET = StateMemberAx;
00081 
00084 const int POSE_SIZE = 6;
00085 const int TWIST_SIZE = 6;
00086 const int POSITION_SIZE = 3;
00087 const int ORIENTATION_SIZE = 3;
00088 const int ACCELERATION_SIZE = 3;
00089 
00091 const double PI = 3.141592653589793;
00092 const double TAU = 6.283185307179587;
00093 
00094 }  // namespace RobotLocalization
00095 
00096 #endif  // ROBOT_LOCALIZATION_FILTER_COMMON_H