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/measurements/heading.h> 00030 #include <hector_pose_estimation/filter/set_filter.h> 00031 00032 namespace hector_pose_estimation { 00033 00034 template class Measurement_<HeadingModel>; 00035 00036 HeadingModel::HeadingModel() 00037 { 00038 parameters().add("stddev", stddev_, 10.0*M_PI/180.0); 00039 } 00040 00041 HeadingModel::~HeadingModel() {} 00042 00043 void HeadingModel::getMeasurementNoise(NoiseVariance& R, const State&, bool init) 00044 { 00045 if (init) { 00046 R(0,0) = pow(stddev_, 2); 00047 } 00048 } 00049 00050 void HeadingModel::getExpectedValue(MeasurementVector& y_pred, const State& state) 00051 { 00052 y_pred(0) = state.getYaw(); 00053 } 00054 00055 void HeadingModel::getStateJacobian(MeasurementMatrix& C, const State& state, bool) 00056 { 00057 if (state.orientation()) { 00058 state.orientation()->cols(C)(0,Z) = 1.0; 00059 } 00060 } 00061 00062 void HeadingModel::limitError(MeasurementVector &error) { 00063 error(0) = remainder(error(0), 2 * M_PI); 00064 } 00065 00066 } // namespace hector_pose_estimation