GraftImuTopic.h
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00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*
00031  * Author: Chad Rockey
00032  */
00033 
00034 #ifndef GRAFT_INCLUDE_GRAFT_GRAFT_IMU_TOPIC_H
00035 #define GRAFT_INCLUDE_GRAFT_GRAFT_IMU_TOPIC_H
00036 
00037 #include <graft/GraftSensor.h>
00038 #include <ros/ros.h>
00039 #include <Eigen/Dense>
00040 #include <sensor_msgs/Imu.h>
00041 #include <tf/transform_datatypes.h>
00042 #include <numeric>
00043 
00044 using namespace Eigen;
00045 
00046 class GraftImuTopic: public GraftSensor
00047 {
00048 public:
00049   GraftImuTopic();
00050 
00051   ~GraftImuTopic();
00052 
00053   void callback(const sensor_msgs::Imu::ConstPtr& msg);
00054 
00055   virtual graft::GraftSensorResidual::Ptr h(const graft::GraftState& state);
00056 
00057   virtual graft::GraftSensorResidual::Ptr z();
00058 
00059   virtual void setName(const std::string& name);
00060 
00061   virtual std::string getName();
00062 
00063   virtual void clearMessage();
00064 
00065   //virtual MatrixXd H(graft::GraftState& state);
00066 
00067   //virtual MatrixXd y(graft::GraftState& predicted);
00068 
00069   //virtual MatrixXd R();
00070 
00071   //void useAbsoluteOrientation(bool absolute_orientation);
00072 
00073   void useDeltaOrientation(bool delta_orientation);
00074 
00075   //void useVelocities(bool use_velocities);
00076 
00077   //void useAccelerations(bool use_accelerations);
00078 
00079   void setTimeout(double timeout);
00080 
00081   void setOrientationCovariance(boost::array<double, 9>& cov);
00082 
00083   void setAngularVelocityCovariance(boost::array<double, 9>& cov);
00084 
00085   void setLinearAccelerationCovariance(boost::array<double, 9>& cov);
00086 
00087 private:
00088 
00089   sensor_msgs::Imu::ConstPtr getMsg();
00090 
00091   ros::Subscriber sub_;
00092   sensor_msgs::Imu::ConstPtr msg_;
00093   sensor_msgs::Imu::ConstPtr last_msg_;  // Used for delta calculations
00094 
00095   std::string name_;
00096   bool absolute_orientation_;
00097   bool delta_orientation_;
00098   bool use_velocities_;
00099   bool use_accelerations_;
00100   ros::Duration timeout_;
00101 
00102   boost::array<double, 9> orientation_covariance_;
00103   boost::array<double, 9> angular_velocity_covariance_;
00104   boost::array<double, 9> linear_acceleration_covariance_;
00105 };
00106 
00107 #endif  // GRAFT_INCLUDE_GRAFT_GRAFT_IMU_TOPIC_H


graft
Author(s): Chad Rockey
autogenerated on Fri Aug 28 2015 10:53:16