00001 //================================================================================================= 00002 // Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt 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 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H 00030 #define HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H 00031 00032 #include <hector_pose_estimation/system_model.h> 00033 #include <hector_pose_estimation/system.h> 00034 00035 #include <hector_pose_estimation/system/imu_input.h> 00036 #include <hector_pose_estimation/system/imu_model.h> 00037 00038 namespace hector_pose_estimation { 00039 00040 class GenericQuaternionSystemModel; 00041 00042 //namespace traits { 00043 // template <> struct Input<GenericQuaternionSystemModel> { 00044 // enum { Dimension = ImuInput::Dimension }; 00045 // typedef ImuInput Type; 00046 // typedef ImuInput::Vector Vector; 00047 // typedef ImuInput::Variance Variance; 00048 // }; 00049 //} // namespace traits 00050 00051 class GenericQuaternionSystemModel : public TimeContinuousSystemModel_<GenericQuaternionSystemModel> 00052 { 00053 public: 00054 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00055 00056 GenericQuaternionSystemModel(); 00057 virtual ~GenericQuaternionSystemModel(); 00058 00059 virtual bool init(PoseEstimation& estimator, System &system, State& state); 00060 00061 virtual void getPrior(State &state); 00062 00063 virtual SystemStatus getStatusFlags(const State& state); 00064 00065 bool prepareUpdate(State& state, double dt); 00066 00067 using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getDerivative; 00068 virtual void getDerivative(StateVector& x_dot, const State& state); 00069 using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getSystemNoise; 00070 virtual void getSystemNoise(NoiseVariance& Q, const State& state, bool init = true); 00071 using TimeContinuousSystemModel_<GenericQuaternionSystemModel>::getStateJacobian; 00072 virtual void getStateJacobian(SystemMatrix& A, const State& state, bool init = true); 00073 00074 // void setGravity(double gravity) { gravity_ = gravity; } 00075 // double getGravity() const { return gravity_; } 00076 00077 protected: 00078 AliasT<double> gravity_; 00079 double rate_stddev_; 00080 double acceleration_stddev_; 00081 double angular_acceleration_stddev_; 00082 double velocity_stddev_; 00083 00084 boost::shared_ptr<ImuInput> imu_; 00085 boost::shared_ptr<Gyro> gyro_; 00086 boost::shared_ptr<Accelerometer> accelerometer_; 00087 00088 ColumnVector3 rate_nav_; 00089 ColumnVector3 acceleration_nav_; 00090 // State::Covariance Q_; 00091 00092 typedef Input_<3> TorqueInput; 00093 TorqueInput::Ptr torque_input_; 00094 typedef Input_<3> RateInput; 00095 RateInput::Ptr rate_input_; 00096 typedef Input_<3> ForceInput; 00097 ForceInput::Ptr force_input_; 00098 }; 00099 00100 extern template class System_<GenericQuaternionSystemModel>; 00101 00102 } // namespace hector_pose_estimation 00103 00104 #endif // HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H