00001 //================================================================================================= 00002 // Copyright (c) 2011, Johannes Meyer, TU Darmstadt 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 are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_POSE_ESTIMATION_SYSTEM_INPUT_H 00030 #define HECTOR_POSE_ESTIMATION_SYSTEM_INPUT_H 00031 00032 #include <boost/type_traits/is_base_of.hpp> 00033 00034 namespace hector_pose_estimation { 00035 00036 class SystemInput 00037 { 00038 public: 00039 SystemInput() {} 00040 virtual ~SystemInput() {} 00041 }; 00042 00043 template <class SystemModel> 00044 class Input_ : public SystemInput { 00045 public: 00046 typedef Input_<SystemModel> Type; 00047 typedef typename SystemModel::InputVector Vector; 00048 00049 Input_() 00050 : u_(SystemModel::InputDimension) 00051 {} 00052 Input_(Vector const& u) 00053 : u_(SystemModel::InputDimension) 00054 { 00055 setValue(u); 00056 } 00057 Input_(double u) 00058 : u_(SystemModel::InputDimension) 00059 { 00060 setValue(u); 00061 } 00062 virtual ~Input_() {} 00063 00064 virtual void setValue(Vector const& u) { u_ = u; } 00065 virtual void setValue(double u) { u_(1) = u; } 00066 00067 virtual Vector const &getVector() const { return u_; } 00068 00069 virtual Vector &operator=(Vector const& u) { setValue(u); return u_; } 00070 virtual Vector &operator=(double u) { setValue(u); return u_; } 00071 00072 protected: 00073 Vector u_; 00074 }; 00075 00076 } // namespace hector_pose_estimation 00077 00078 #endif // HECTOR_POSE_ESTIMATION_SYSTEM_INPUT_H