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00029 #ifndef HECTOR_POSE_ESTIMATION_TYPES_H
00030 #define HECTOR_POSE_ESTIMATION_TYPES_H
00031
00032 #include <hector_pose_estimation/matrix.h>
00033 #include <hector_pose_estimation/collection.h>
00034
00035
00036
00037
00038 namespace hector_pose_estimation {
00039
00040 enum {
00041 STATUS_ALIGNMENT = 0x1,
00042 STATUS_DEGRADED = 0x2,
00043 STATUS_READY = 0x4,
00044 STATUS_MASK = 0xf,
00045
00046 STATE_ROLLPITCH = 0x10,
00047 STATE_YAW = 0x20,
00048 STATE_RATE_XY = 0x100,
00049 STATE_RATE_Z = 0x200,
00050 STATE_VELOCITY_XY = 0x1000,
00051 STATE_VELOCITY_Z = 0x2000,
00052 STATE_POSITION_XY = 0x10000,
00053 STATE_POSITION_Z = 0x20000,
00054 STATE_MASK = 0x33330,
00055
00056 STATE_PSEUDO_ROLLPITCH = 0x40,
00057 STATE_PSEUDO_YAW = 0x80,
00058 STATE_PSEUDO_RATE_XY = 0x400,
00059 STATE_PSEUDO_RATE_Z = 0x800,
00060 STATE_PSEUDO_VELOCITY_XY = 0x4000,
00061 STATE_PSEUDO_VELOCITY_Z = 0x8000,
00062 STATE_PSEUDO_POSITION_XY = 0x40000,
00063 STATE_PSEUDO_POSITION_Z = 0x80000,
00064 STATE_PSEUDO_MASK = 0xcccc0
00065 };
00066 typedef unsigned int SystemStatus;
00067
00068 std::string getSystemStatusString(const SystemStatus& status, const SystemStatus& asterisk_status = 0);
00069 static inline std::ostream& operator<<(std::ostream& os, const SystemStatus& status) {
00070 return os << getSystemStatusString(status);
00071 }
00072
00073 class Model;
00074
00075 class SystemModel;
00076 class System;
00077 template <class Derived> class System_;
00078 typedef boost::shared_ptr<System> SystemPtr;
00079 typedef boost::weak_ptr<System> SystemWPtr;
00080 typedef Collection<System> Systems;
00081
00082 class MeasurementModel;
00083 class MeasurementUpdate;
00084 class Measurement;
00085 template <class Derived> class Measurement_;
00086 typedef boost::shared_ptr<Measurement> MeasurementPtr;
00087 typedef boost::weak_ptr<Measurement> MeasurementWPtr;
00088 typedef Collection<Measurement> Measurements;
00089
00090 class Input;
00091 typedef boost::shared_ptr<Input> InputPtr;
00092 typedef boost::weak_ptr<Input> InputWPtr;
00093 typedef Collection<Input> Inputs;
00094
00095 class PoseEstimation;
00096 class Filter;
00097 class State;
00098
00099 class SubState;
00100 template <int Dimension> class SubState_;
00101 typedef SubState_<0> BaseState;
00102 typedef boost::shared_ptr<SubState> SubStatePtr;
00103 typedef boost::weak_ptr<SubState> SubStateWPtr;
00104
00105 class GlobalReference;
00106 typedef boost::shared_ptr<GlobalReference> GlobalReferencePtr;
00107
00108 }
00109
00110 #endif // HECTOR_POSE_ESTIMATION_TYPES_H