GraftUKFAttitude.h

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/* 
 * Author: Chad Rockey
 */

#ifndef GRAFT_UKFATTITUDE_H
#define GRAFT_UKFATTITUDE_H

#include <Eigen/Dense>
#include <Eigen/Cholesky>

#include <graft/GraftState.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/QuaternionStamped.h>
#include <sensor_msgs/Imu.h>
#include <tf/transform_datatypes.h>
 #include <graft/GraftSensor.h>

#define SIZE 7  // State size: qw qx qy qz || wx wy wz

using namespace Eigen;

class GraftUKFAttitude{
  public:
    GraftUKFAttitude();
    ~GraftUKFAttitude();

        MatrixXd f(MatrixXd x, double dt);

        std::vector<MatrixXd > predict_sigma_points(std::vector<MatrixXd >& sigma_points, double dt);

        graft::GraftStatePtr getMessageFromState();

        graft::GraftStatePtr getMessageFromState(Matrix<double, SIZE, 1>& state, Matrix<double, SIZE, SIZE>& covariance);

        double predictAndUpdate();

        void setTopics(std::vector<boost::shared_ptr<GraftSensor> >& topics);

        void setInitialCovariance(std::vector<double>& P);

        void setProcessNoise(std::vector<double>& Q);

        void setAlpha(const double alpha);

        void setKappa(const double kappa);

        void setBeta(const double beta);
    
  private:

    Matrix<double, SIZE, 1> graft_state_;
        Matrix<double, SIZE, 1> graft_control_;
        Matrix<double, SIZE, SIZE> graft_covariance_;

        Matrix<double, SIZE, SIZE> Q_;

    ros::Time last_update_time_;
    ros::Time last_imu_time_;

    double alpha_;
    double beta_;
    double kappa_;

    std::vector<boost::shared_ptr<GraftSensor> > topics_;
};

#endif