imu_model.h

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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
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//=================================================================================================

#ifndef HECTOR_POSE_ESTIMATION_IMU_MODEL_H
#define HECTOR_POSE_ESTIMATION_IMU_MODEL_H

#include <hector_pose_estimation/system_model.h>
#include <hector_pose_estimation/system.h>

namespace hector_pose_estimation {

class GyroModel : public TimeContinuousSystemModel_<GyroModel, 3>
{
public:
  enum StateIndex {
    BIAS_GYRO_X = 0,
    BIAS_GYRO_Y,
    BIAS_GYRO_Z
  };

  GyroModel();
  virtual ~GyroModel();

  SubState& sub(State& state) const { return *drift_; }
  const SubState& sub(const State& state) const { return *drift_; }

  virtual bool init(PoseEstimation& estimator, State& state);

  using TimeContinuousSystemModel_<GyroModel, 3>::getSystemNoise;
  virtual void getSystemNoise(NoiseVariance& Q, const State& state, bool init);
  using TimeContinuousSystemModel_<GyroModel, 3>::getStateJacobian;
  virtual void getStateJacobian(SystemMatrix& A1, CrossSystemMatrix& A01, const State& state, bool init);

  ConstStateVectorSegment getBias() const { return drift_->getVector(); }

private:
  SubStatePtr drift_;
  double rate_stddev_;
  double rate_drift_;
};

class AccelerometerModel : public TimeContinuousSystemModel_<AccelerometerModel, 3>
{
public:
  enum StateIndex {
    BIAS_ACCEL_X = 0,
    BIAS_ACCEL_Y,
    BIAS_ACCEL_Z
  };

  AccelerometerModel();
  virtual ~AccelerometerModel();

  SubState& sub(State& state) const { return *drift_; }
  const SubState& sub(const State& state) const { return *drift_; }

  virtual bool init(PoseEstimation& estimator, State& state);

  using TimeContinuousSystemModel_<AccelerometerModel, 3>::getSystemNoise;
  virtual void getSystemNoise(NoiseVariance& Q, const State& state, bool init);
  using TimeContinuousSystemModel_<AccelerometerModel, 3>::getStateJacobian;
  virtual void getStateJacobian(SystemMatrix& A1, CrossSystemMatrix& A01, const State& state, bool init);

  ConstStateVectorSegment getBias() const { return drift_->getVector(); }

private:
  SubStatePtr drift_;
  double acceleration_stddev_;
  double acceleration_drift_;
};

typedef System_<GyroModel> Gyro;
extern template class System_<GyroModel>;

typedef System_<AccelerometerModel> Accelerometer;
extern template class System_<AccelerometerModel>;

}

#endif // HECTOR_POSE_ESTIMATION_IMU_MODEL_H