heading.h

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//=================================================================================================
// Copyright (c) 2011, 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
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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
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//       specific prior written permission.

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#ifndef HECTOR_POSE_ESTIMATION_HEADING_H
#define HECTOR_POSE_ESTIMATION_HEADING_H

#include <hector_pose_estimation/measurement.h>

namespace hector_pose_estimation {

class HeadingModel : public MeasurementModel_<HeadingModel,1> {
public:
  HeadingModel();
  virtual ~HeadingModel();

  virtual bool active(const State &state) { return !(state.getSystemStatus() & STATE_YAW); }
  virtual SystemStatus getStatusFlags() { return STATE_YAW; }

  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);

  virtual void limitError(MeasurementVector &error);

protected:
  double stddev_;
};

typedef Measurement_<HeadingModel> Heading;
extern template class Measurement_<HeadingModel>;

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_HEADING_H