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 #include <hector_pose_estimation/system.h> 00030 #include <hector_pose_estimation/filter/ekf.h> 00031 00032 namespace hector_pose_estimation { 00033 00034 System::System(const std::string &name) 00035 : name_(name) 00036 , status_flags_(0) 00037 { 00038 } 00039 00040 System::~System() { 00041 } 00042 00043 void System::getPrior(State &state) const 00044 { 00045 getModel()->getPrior(state); 00046 } 00047 00048 bool System::init(PoseEstimation& estimator, State& state) 00049 { 00050 if (!getModel() || !getModel()->init(estimator, *this, state)) return false; 00051 return true; 00052 } 00053 00054 void System::cleanup() 00055 { 00056 if (getModel()) getModel()->cleanup(); 00057 } 00058 00059 void System::reset(State& state) 00060 { 00061 if (getModel()) getModel()->reset(state); 00062 status_flags_ = 0; 00063 } 00064 00065 bool System::active(const State& state) { 00066 bool active = (!getModel() || getModel()->active(state)); 00067 if (!active) status_flags_ = 0; 00068 return active; 00069 } 00070 00071 bool System::update(double dt) { 00072 if (!filter() || !active(filter()->state())) return false; 00073 00074 if (getModel()) status_flags_ = getModel()->getStatusFlags(filter()->state()); 00075 if (!this->updateImpl(dt)) return false; 00076 filter()->state().updated(); 00077 00078 updated(); 00079 return true; 00080 } 00081 00082 void System::updated() { 00083 } 00084 00085 bool System::limitState(State &state) { 00086 return getModel()->limitState(state); 00087 } 00088 00089 } // namespace hector_pose_estimation