zerorate.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
//       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_ZERORATE_H
#define HECTOR_POSE_ESTIMATION_ZERORATE_H

#include <hector_pose_estimation/measurement.h>

namespace hector_pose_estimation {

class GyroModel;

class ZeroRateModel : public MeasurementModel_<ZeroRateModel,1,3> {
public:
  ZeroRateModel();
  virtual ~ZeroRateModel();

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

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

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

  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
  virtual void getStateJacobian(MeasurementMatrix& C0, SubMeasurementMatrix& C1, const State& state, bool init);

  virtual const MeasurementVector* getFixedMeasurementVector();

protected:
  double stddev_;
  SubStatePtr gyro_drift_;
};

typedef Measurement_<ZeroRateModel> ZeroRate;
extern template class Measurement_<ZeroRateModel>;

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_ZERORATE_H