00001 //================================================================================================= 00002 // Copyright (c) 2013, Johannes Meyer and contributors, Technische Universitat 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 00030 #ifndef HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H 00031 #define HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H 00032 00033 #include <hector_pose_estimation/system/generic_quaternion_system_model.h> 00034 00035 namespace hector_pose_estimation { 00036 00037 class GroundVehicleModel; 00038 00039 //namespace traits { 00040 // template <> struct Input<GroundVehicleModel> { 00041 // enum { Dimension = ImuInput::Dimension }; 00042 // typedef ImuInput Type; 00043 // typedef ImuInput::Vector Vector; 00044 // typedef ImuInput::Variance Variance; 00045 // }; 00046 //} // namespace traits 00047 00048 class GroundVehicleModel : public GenericQuaternionSystemModel 00049 { 00050 public: 00051 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00052 00053 GroundVehicleModel(); 00054 virtual ~GroundVehicleModel(); 00055 00056 virtual void getPrior(State &state); 00057 virtual SystemStatus getStatusFlags(const State& state); 00058 00059 using GenericQuaternionSystemModel::getDerivative; 00060 virtual void getDerivative(StateVector& x_dot, const State& state); 00061 using GenericQuaternionSystemModel::getStateJacobian; 00062 virtual void getStateJacobian(SystemMatrix& A, const State& state, bool init = true); 00063 00064 virtual bool limitState(State& state); 00065 00066 protected: 00067 double gain_; 00068 double base_height_, min_height_, max_height_; 00069 Matrix_<3,3> dR3; 00070 }; 00071 00072 extern template class System_<GenericQuaternionSystemModel>; 00073 00074 } // namespace hector_pose_estimation 00075 00076 #endif // HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H