filter.cpp

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//=================================================================================================
// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// 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
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * 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
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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//=================================================================================================

#include <hector_pose_estimation/filter.h>
#include <hector_pose_estimation/pose_estimation.h>

namespace hector_pose_estimation {

Filter::Filter()
{
}

Filter::~Filter()
{
}

bool Filter::init(PoseEstimation& estimator)
{
  return true;
}

void Filter::cleanup()
{
}

void Filter::reset()
{
  state_.reset();
}

bool Filter::predict(const Systems& systems, double dt) {
  SystemStatus system_status = 0;
  bool result = true;

  for(Systems::iterator it = systems.begin(); it != systems.end(); it++) {
    const SystemPtr& system = *it;
    result &= predict(system, dt);
    system_status |= system->getStatusFlags();
  }

  // call the filter's global predict method
  result &= doPredict(dt);

  state_.updateSystemStatus(system_status, STATE_MASK);
  return result;
}

bool Filter::predict(const SystemPtr& system, double dt) {
  return system->update(dt);
}

bool Filter::doPredict(double dt) {
  state_.updated();
  return true;
}

bool Filter::correct(const Measurements& measurements) {
  SystemStatus measurement_status = 0;
  bool result = true;

  for(Measurements::iterator it = measurements.begin(); it != measurements.end(); it++) {
    const MeasurementPtr& measurement = *it;
    result &= correct(measurement);
    measurement_status |= measurement->getStatusFlags();
  }

  // call the filter's global correct method
  result &= doCorrect();

  state_.setMeasurementStatus(measurement_status);
  return result;
}

bool Filter::correct(const MeasurementPtr& measurement) {
  return measurement->process();
}

bool Filter::doCorrect() {
  state_.updated();
  return true;
}

} // namespace hector_pose_estimation