measurement.cpp
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00001 /*
00002 
00003 Copyright (c) 2010, Stephan Weiss, ASL, ETH Zurich, Switzerland
00004 You can contact the author at <stephan dot weiss at ieee dot org>
00005 
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010 * Redistributions of source code must retain the above copyright
00011 notice, this list of conditions and the following disclaimer.
00012 * Redistributions in binary form must reproduce the above copyright
00013 notice, this list of conditions and the following disclaimer in the
00014 documentation and/or other materials provided with the distribution.
00015 * Neither the name of ETHZ-ASL nor the
00016 names of its contributors may be used to endorse or promote products
00017 derived from this software without specific prior written permission.
00018 
00019 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00020 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00021 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00022 DISCLAIMED. IN NO EVENT SHALL ETHZ-ASL BE LIABLE FOR ANY
00023 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00024 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00025 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00026 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00027 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00029 
00030 */
00031 
00032 #include <ssf_core/measurement.h>
00033 
00034 namespace ssf_core{
00035 
00036 Measurements::Measurements()
00037 {
00038         // setup: initial pos, att, of measurement sensor
00039 
00040         p_vc_ = Eigen::Matrix<double, 3, 1>::Constant(0);
00041         q_cv_ = Eigen::Quaternion<double>(1, 0, 0, 0);
00042 
00043         ssf_core_.registerCallback(&Measurements::Config,this);
00044 }
00045 
00046 Measurements::~Measurements()
00047 {
00048         for (Handlers::iterator it(handlers.begin()); it != handlers.end(); ++it)
00049                 delete *it;
00050 
00051         delete reconfServer_;
00052         return;
00053 }
00054 
00055 
00056 void Measurements::Config(ssf_core::SSF_CoreConfig& config, uint32_t level){
00057         if(level & ssf_core::SSF_Core_INIT_FILTER){
00058                 init(config.scale_init);
00059                 config.init_filter = false;
00060         }
00061         else if(level & ssf_core::SSF_Core_SET_HEIGHT){
00062                 if(p_vc_.norm()==0)
00063                 {
00064                         ROS_WARN_STREAM("No measurements received yet to initialize position - using scale factor " << config.scale_init << " for init");
00065                         init(config.scale_init);
00066                 }
00067                 else
00068                 {
00069                         init(p_vc_[2]/config.height);
00070                         ROS_WARN_STREAM("init filter (set scale to: " << p_vc_[2]/config.height << ")");
00071                 }
00072                 config.set_height = false;
00073         }
00074 }
00075 
00076 }; // end namespace


ssf_core
Author(s): Stephan Weiss, Markus Achtelik
autogenerated on Fri Jan 3 2014 11:21:29