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_HEIGHT_H 00030 #define HECTOR_POSE_ESTIMATION_HEIGHT_H 00031 00032 #include <hector_pose_estimation/measurement.h> 00033 00034 namespace hector_pose_estimation { 00035 00036 class HeightModel : public MeasurementModel_<HeightModel,1> { 00037 public: 00038 HeightModel(); 00039 virtual ~HeightModel(); 00040 00041 virtual SystemStatus getStatusFlags() { return STATE_POSITION_Z; } 00042 00043 virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init); 00044 virtual void getExpectedValue(MeasurementVector& y_pred, const State& state); 00045 virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init); 00046 00047 void setElevation(double elevation) { elevation_ = elevation; } 00048 double getElevation() const { return elevation_; } 00049 00050 protected: 00051 double stddev_; 00052 double elevation_; 00053 }; 00054 00055 extern template class Measurement_<HeightModel>; 00056 00057 class HeightBaroCommon 00058 { 00059 public: 00060 HeightBaroCommon(Measurement *measurement); 00061 virtual ~HeightBaroCommon(); 00062 00063 virtual void onReset(); 00064 double resetElevation(const State &state, boost::function<double()> altitude_func); 00065 00066 protected: 00067 bool auto_elevation_; 00068 bool elevation_initialized_; 00069 }; 00070 00071 class Height : public Measurement_<HeightModel>, HeightBaroCommon 00072 { 00073 public: 00074 Height(const std::string& name = "height"); 00075 virtual ~Height() {} 00076 00077 void setElevation(double elevation) { getModel()->setElevation(elevation); } 00078 double getElevation() const { return getModel()->getElevation(); } 00079 00080 virtual void onReset(); 00081 virtual bool prepareUpdate(State &state, const Update &update); 00082 }; 00083 00084 } // namespace hector_pose_estimation 00085 00086 #endif // HECTOR_POSE_ESTIMATION_HEIGHT_H