00001 //================================================================================================= 00002 // Copyright (c) 2011, Johannes Meyer, 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_GRAVITY_H 00030 #define HECTOR_POSE_ESTIMATION_GRAVITY_H 00031 00032 #include <hector_pose_estimation/measurement.h> 00033 00034 namespace hector_pose_estimation { 00035 00036 class GravityModel : public MeasurementModel_<GravityModel,3> { 00037 public: 00038 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00039 00040 using MeasurementModel_<GravityModel,3>::MeasurementVector; 00041 using MeasurementModel_<GravityModel,3>::NoiseVariance; 00042 00043 GravityModel(); 00044 virtual ~GravityModel(); 00045 00046 virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state); 00047 00048 virtual void setGravity(double gravity) { gravity_.z() = gravity; } 00049 virtual double getGravity() const { return gravity_.z(); } 00050 00051 virtual bool active(const State &state) { return true; } // always update, even during alignment 00052 virtual SystemStatus getStatusFlags() { return STATE_PSEUDO_ROLLPITCH; } 00053 00054 virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init); 00055 virtual void getExpectedValue(MeasurementVector& y_pred, const State& state); 00056 virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init); 00057 00058 protected: 00059 double stddev_; 00060 std::string use_bias_; 00061 MeasurementVector gravity_; 00062 SubState_<3>::Ptr bias_; 00063 }; 00064 00065 typedef Measurement_<GravityModel> Gravity; 00066 extern template class Measurement_<GravityModel>; 00067 00068 } // namespace hector_pose_estimation 00069 00070 #endif // HECTOR_POSE_ESTIMATION_GRAVITY_H