baro.h

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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:
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//       TU Darmstadt, nor the names of its contributors may be used to
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#ifndef HECTOR_POSE_ESTIMATION_BARO_H
#define HECTOR_POSE_ESTIMATION_BARO_H

#include <hector_pose_estimation/measurement.h>
#include <bfl/wrappers/matrix/matrix_wrapper.h>
#include "height.h"

#ifdef USE_HECTOR_UAV_MSGS
  #include <hector_uav_msgs/Altimeter.h>
#endif

namespace hector_pose_estimation {

class BaroUpdate;

class BaroModel : public HeightModel
{
public:
  BaroModel();
  virtual ~BaroModel();

  virtual ColumnVector ExpectedValueGet() const;
  virtual Matrix dfGet(unsigned int i) const;

  void setQnh(double qnh) { qnh_ = qnh; }
  double getQnh() const { return qnh_; }

  double getAltitude(const BaroUpdate& update);

protected:
  double qnh_;
};

class BaroUpdate : public Update_<BaroModel> {
public:
  BaroUpdate();
  BaroUpdate(double pressure);
  BaroUpdate(double pressure, double qnh);
  double qnh() const { return qnh_; }
  BaroUpdate& qnh(double qnh) { qnh_ = qnh; return *this; }

private:
  double qnh_;
};

class Baro : public Measurement_<BaroModel,BaroUpdate>, HeightBaroCommon
{
public:
  Baro(const std::string& name = "baro") : Measurement_<BaroModel,BaroUpdate>(name), HeightBaroCommon(this) {}
  virtual ~Baro() {}

  void setElevation(double elevation) { getModel()->setElevation(elevation); }
  double getElevation() const { return getModel()->getElevation(); }

  void setQnh(double qnh) { getModel()->setQnh(qnh); }
  double getQnh() const { return getModel()->getQnh(); }

  virtual void onReset();
  virtual bool beforeUpdate(PoseEstimation &estimator, const Update &update);
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_BARO_H