ground_vehicle_model.h

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//=================================================================================================
// Copyright (c) 2013, Johannes Meyer and contributors, Technische Universitat 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
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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.

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#ifndef HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H
#define HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H

#include <hector_pose_estimation/system/generic_quaternion_system_model.h>

namespace hector_pose_estimation {

class GroundVehicleModel;

namespace traits {
  template <> struct Input<GroundVehicleModel> {
    enum { Dimension = ImuInput::Dimension };
    typedef ImuInput Type;
    typedef ImuInput::Vector Vector;
    typedef ImuInput::Variance Variance;
  };
} // namespace traits

class GroundVehicleModel : public GenericQuaternionSystemModel
{
public:
  GroundVehicleModel();
  virtual ~GroundVehicleModel();

  virtual void getPrior(State &state);
  virtual SystemStatus getStatusFlags(const State& state);

  using GenericQuaternionSystemModel::getDerivative;
  virtual void getDerivative(StateVector& x_dot, const State& state);
  using GenericQuaternionSystemModel::getStateJacobian;
  virtual void getStateJacobian(SystemMatrix& A, const State& state, bool init);

  virtual bool limitState(State& state);

protected:
  double gain_;
  double base_height_, min_height_, max_height_;
  Matrix_<3,4> dr3_dq_;
};

extern template class System_<GenericQuaternionSystemModel>;

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H