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_INPUT_H 00030 #define HECTOR_POSE_ESTIMATION_INPUT_H 00031 00032 #include <hector_pose_estimation/types.h> 00033 00034 namespace hector_pose_estimation { 00035 00036 class Input 00037 { 00038 public: 00039 Input() {} 00040 virtual ~Input() {} 00041 00042 virtual int getDimension() const = 0; 00043 00044 virtual const std::string& getName() const { return name_; } 00045 virtual void setName(const std::string& name) { name_ = name; } 00046 00047 virtual Input& operator=(const Input& other) = 0; 00048 00049 private: 00050 std::string name_; 00051 }; 00052 00053 template <int _Dimension> 00054 class Input_ : public Input { 00055 public: 00056 enum { Dimension = _Dimension }; 00057 typedef Input_<Dimension> Type; 00058 typedef ColumnVector_<Dimension> Vector; 00059 typedef SymmetricMatrix_<Dimension> Variance; 00060 00061 typedef boost::shared_ptr< Input_<_Dimension> > Ptr; 00062 00063 Input_() { u_.setZero(); } 00064 template <typename Derived> Input_(const Eigen::MatrixBase<Derived>& u) : u_(u) {} 00065 template <typename Derived> Input_(const Eigen::MatrixBase<Derived>& u, const Variance& Q) : u_(u), variance_(new Variance(Q)) {} 00066 Input_(double u) { *this = u; } 00067 Input_(double u, const Variance& Q) : variance_(new Variance(Q)) { *this = u; } 00068 Input_(const Input& other) { *this = other; } 00069 virtual ~Input_() {} 00070 00071 virtual int getDimension() const { return Dimension; } 00072 00073 virtual Vector const &getVector() const { return u_; } 00074 virtual Vector& u() { return u_; } 00075 00076 virtual Variance &setVariance(const Variance &other) { 00077 if (!variance_) variance_.reset(new Variance); 00078 *variance_ = other; 00079 return *variance_; 00080 } 00081 00082 virtual bool hasVariance() const { return variance_; } 00083 virtual Variance const &getVariance() { if (!variance_) variance_.reset(new Variance); return *variance_; } 00084 virtual Variance const &getVariance() const { return *variance_; } 00085 virtual Variance& variance() { if (!variance_) variance_.reset(new Variance); return *variance_; } 00086 00087 virtual Input_<Dimension>& operator=(const Input& other) { 00088 *this = static_cast<const Input_<Dimension>&>(other); 00089 return *this; 00090 } 00091 00092 virtual Input_<Dimension>& operator=(const Input_<Dimension>& other) { 00093 u_ = other.getVector(); 00094 if (other.variance_) setVariance(*other.variance_); 00095 return *this; 00096 } 00097 00098 template <typename Derived> Vector &operator=(const Eigen::MatrixBase<Derived>& other) { 00099 u_ = other; 00100 return u_; 00101 } 00102 00103 virtual Vector &operator=(double u) { u_.setConstant(u); return u_; } 00104 00105 protected: 00106 Vector u_; 00107 boost::shared_ptr<Variance> variance_; 00108 }; 00109 00110 namespace traits { 00111 template <class Model> struct Input { 00112 enum { Dimension = 0 }; 00113 typedef Input_<Dimension> Type; 00114 typedef ColumnVector_<0> Vector; 00115 typedef SymmetricMatrix_<0> Variance; 00116 }; 00117 } 00118 00119 } // namespace hector_pose_estimation 00120 00121 #endif // HECTOR_POSE_ESTIMATION_INPUT_H