rate.cpp

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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:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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#include <hector_pose_estimation/measurements/rate.h>
#include <hector_pose_estimation/filter/set_filter.h>

namespace hector_pose_estimation {

template class Measurement_<RateModel>;

RateModel::RateModel()
{
  parameters().add("stddev", stddev_, 10.0 * M_PI/180.0);
  parameters().add("use_bias", use_bias_, std::string("gyro_bias"));
}

RateModel::~RateModel() {}

bool RateModel::init(PoseEstimation &estimator, Measurement &measurement, State &state)
{
  if (!use_bias_.empty()) {
    bias_ = state.getSubState<3,3>(use_bias_);
    if (!bias_) {
      ROS_ERROR("Could not find bias substate '%s' during initialization of rate measurement '%s'.", use_bias_.c_str(), measurement.getName().c_str());
      return false;
    }
  } else {
    bias_.reset();
  }

  return true;
}

void RateModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init)
{
  if (init) {
    R(0,0) = R(1,1) = R(2,2) = pow(stddev_, 2);
  }
}

void RateModel::getExpectedValue(MeasurementVector& y_pred, const State& state)
{
  y_pred = state.getRate();

  if (bias_) {
    y_pred += bias_->getVector();
  }
}

void RateModel::getStateJacobian(MeasurementMatrix &C, const State &state, bool init)
{
  if (!init) return;

  if (state.rate()) {
   state.rate()->cols(C).setIdentity();
  }

  if (bias_) {
    bias_->cols(C).setIdentity();
  }
}

} // namespace hector_pose_estimation