EKF3D.hpp

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/*********************************************************************
 * EKF3D.cpp
 *
 *  Created on: 
 *      Author: Dula Nad
 *      
 *  Modified by: Filip Mandic
 *
 ********************************************************************/
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#ifndef EKF3D_HPP_
#define EKF3D_HPP_
#include <labust/navigation/KFCore.hpp>
#include <labust/navigation/LDTravModelExtended.hpp>
#include <labust/navigation/SensorHandlers.hpp>
#include <labust/math/NumberManipulation.hpp>
#include <navcon_msgs/ModelParamsUpdate.h>

#include <tf2_ros/transform_broadcaster.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Bool.h>
#include <auv_msgs/BodyForceReq.h>

#include <auv_msgs/NED.h> // Dodano
#include <std_msgs/Bool.h>

namespace labust
{
        namespace navigation
        {
                class Estimator3D
                {
                        enum{X=0,Y,Z,K,M,N, DoF};
                        typedef labust::navigation::KFCore<labust::navigation::LDTravModel> KFNav;
                public:
                        Estimator3D();

                        void onInit();
                        void start();

                private:
                        void configureNav(KFNav& nav, ros::NodeHandle& nh);
                        void onModelUpdate(const navcon_msgs::ModelParamsUpdate::ConstPtr& update);
                        void onTau(const auv_msgs::BodyForceReq::ConstPtr& tau);
                        void onDepth(const std_msgs::Float32::ConstPtr& data);
                        void onAltitude(const std_msgs::Float32::ConstPtr& data);
                        void processMeasurements();
                        void publishState();
                        void onReset(const std_msgs::Bool::ConstPtr& reset);
                        void onUseGyro(const std_msgs::Bool::ConstPtr& use_gyro);

                        KFNav nav;
                        KFNav::vector tauIn;
                        KFNav::vector measurements, newMeas;
                        labust::math::unwrap unwrap;
                        ros::Publisher stateMeas, stateHat, currentsHat, buoyancyHat, unsafe_dvl;
                        ros::Publisher turns_pub;
                        ros::Subscriber tauAch, depth, altitude, modelUpdate, resetTopic, useGyro, sub, subKFmode;
                        GPSHandler gps;
                        ImuHandler imu;
                        DvlHandler dvl;
                        double max_dvl;
                        double min_altitude;
                        ros::Time dvl_time;
                        double dvl_timeout;
                        tf2_ros::TransformBroadcaster broadcaster;
                        double alt;
                        KFNav::ModelParams params[DoF];
                        bool useYawRate;
                        int dvl_model;
                        double compassVariance, gyroVariance;
                        boost::mutex meas_mux;

                        void deltaPosCallback(const auv_msgs::NED::ConstPtr& msg);

                        void KFmodeCallback(const std_msgs::Bool::ConstPtr& msg);

                        bool quadMeasAvailable, KFmode, KFmodePast, absoluteEKF;

                        float deltaXpos, deltaYpos;

                        KFNav::matrix Pstart, Rstart;

                };
        }
}
/* EKF3D_HPP_ */
#endif