position_sensor.h
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00001 /*
00002 
00003 Copyright (c) 2010, Stephan Weiss, ASL, ETH Zurich, Switzerland
00004 You can contact the author at <stephan dot weiss at ieee dot org>
00005 
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010 * Redistributions of source code must retain the above copyright
00011 notice, this list of conditions and the following disclaimer.
00012 * Redistributions in binary form must reproduce the above copyright
00013 notice, this list of conditions and the following disclaimer in the
00014 documentation and/or other materials provided with the distribution.
00015 * Neither the name of ETHZ-ASL nor the
00016 names of its contributors may be used to endorse or promote products
00017 derived from this software without specific prior written permission.
00018 
00019 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00020 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00021 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00022 DISCLAIMED. IN NO EVENT SHALL ETHZ-ASL BE LIABLE FOR ANY
00023 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00024 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00025 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00026 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00027 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00029 
00030 */
00031 
00032 #ifndef POSITION_SENSOR_H
00033 #define POSITION_SENSOR_H
00034 
00035 #include <ssf_core/measurement.h>
00036 #include <ssf_updates/PositionWithCovarianceStamped.h>
00037 
00038 class PositionSensorHandler: public ssf_core::MeasurementHandler
00039 {
00040 private:
00041         // measurements
00042 //  Eigen::Quaternion<double> z_q_; /// attitude measurement camera seen from world - here we do not have an attitude measurement
00043         Eigen::Matrix<double, 3, 1> z_p_; 
00044         double n_zp_ /*, n_zq_*/; 
00045 
00046         ros::Subscriber subMeasurement_;
00047 
00048         bool measurement_world_sensor_; 
00049         bool use_fixed_covariance_; 
00050 
00051         void subscribe();
00052         void measurementCallback(const ssf_updates::PositionWithCovarianceStampedConstPtr & msg);
00053         void noiseConfig(ssf_core::SSF_CoreConfig& config, uint32_t level);
00054 
00055 public:
00056         PositionSensorHandler();
00057         PositionSensorHandler(ssf_core::Measurements* meas);
00058 };
00059 
00060 #endif /* POSITION_SENSOR_H */


ssf_updates
Author(s): Stephan Weiss, Markus Achtelik
autogenerated on Mon Oct 6 2014 10:27:06