EKF_RTT.hpp

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/*********************************************************************
 * EKF_RTT.cpp
 *
 *  Created on: 
 *      Author: Dula Nad
 *      
 *  Modified by: Filip Mandic
 *
 ********************************************************************/
/*********************************************************************
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#ifndef EKF_RTT_HPP_
#define EKF_RTT_HPP_
#include <labust/navigation/KFCore.hpp>
#include <labust/navigation/RelativeTrackingModel.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 <std_msgs/Bool.h>
#include <auv_msgs/NavSts.h>
#include <underwater_msgs/USBLFix.h>

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

                private:
                        void configureNav(KFNav& nav, ros::NodeHandle& nh);
                        void onModelUpdate(const navcon_msgs::ModelParamsUpdate::ConstPtr& update);
                        void onStateHat(const auv_msgs::NavSts::ConstPtr& data);
                        void onCurrentsHat(const  geometry_msgs::TwistStamped::ConstPtr& data);
                        void onTargetTau(const auv_msgs::BodyForceReq::ConstPtr& tau);
                        void onTargetDepth(const std_msgs::Float32::ConstPtr& data);
                        void onTargetHeading(const std_msgs::Float32::ConstPtr& data);
                        void onUSBLfix(const underwater_msgs::USBLFix::ConstPtr& data);
                        //void onRange(const std_msgs::Float32::ConstPtr& data);
                        //void onBearing(const std_msgs::Float32::ConstPtr& data);
                        void processMeasurements();
                        void publishState();
                        KFNav nav;
                        KFNav::vector inputVec;
                        KFNav::vector measurements, newMeas;
                        labust::math::unwrap unwrap;
                        ros::Publisher pubStateMeas, pubStateHat;
                        ros::Subscriber subStateHat, subCurrentsHat, subTargetTau, subTargetDepth, subTargetHeading, subUSBLfix, modelUpdate;
                        tf2_ros::TransformBroadcaster broadcaster;
                        double alt, xc, yc, u, v;
                        KFNav::ModelParams params[DoF];
                };
        }
}
/* EKF3D_HPP_ */
#endif