heading.h
Go to the documentation of this file.
1 //=================================================================================================
2 // Copyright (c) 2011, Johannes Meyer, TU Darmstadt
3 // All rights reserved.
4 
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 // * Redistributions of source code must retain the above copyright
8 // notice, this list of conditions and the following disclaimer.
9 // * Redistributions in binary form must reproduce the above copyright
10 // notice, this list of conditions and the following disclaimer in the
11 // documentation and/or other materials provided with the distribution.
12 // * Neither the name of the Flight Systems and Automatic Control group,
13 // TU Darmstadt, nor the names of its contributors may be used to
14 // endorse or promote products derived from this software without
15 // specific prior written permission.
16 
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
18 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
19 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
20 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
21 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
22 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
23 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
24 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
26 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27 //=================================================================================================
28 
29 #ifndef HECTOR_POSE_ESTIMATION_HEADING_H
30 #define HECTOR_POSE_ESTIMATION_HEADING_H
31 
33 
34 namespace hector_pose_estimation {
35 
36 class HeadingModel : public MeasurementModel_<HeadingModel,1> {
37 public:
38  HeadingModel();
39  virtual ~HeadingModel();
40 
41  virtual SystemStatus getStatusFlags() { return STATE_YAW; }
42 
43  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
44  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
45  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
46 
47  virtual void limitError(MeasurementVector &error);
48 
49 protected:
50  double stddev_;
51 };
52 
54 extern template class Measurement_<HeadingModel>;
55 
56 } // namespace hector_pose_estimation
57 
58 #endif // HECTOR_POSE_ESTIMATION_HEADING_H
Measurement_< HeadingModel > Heading
Definition: heading.h:53
virtual void getExpectedValue(MeasurementVector &y_pred, const State &state)
Definition: heading.cpp:50
virtual SystemStatus getStatusFlags()
Definition: heading.h:41
virtual void getMeasurementNoise(NoiseVariance &R, const State &, bool init)
Definition: heading.cpp:43
virtual void getStateJacobian(MeasurementMatrix &C, const State &state, bool init)
Definition: heading.cpp:55
unsigned int SystemStatus
Definition: types.h:70
virtual void limitError(MeasurementVector &error)
Definition: heading.cpp:62
virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state)


hector_pose_estimation_core
Author(s): Johannes Meyer
autogenerated on Thu Feb 18 2021 03:29:30