pose_estimation_node.cpp

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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#include <hector_quadrotor_pose_estimation/pose_estimation_node.h>
#include <hector_pose_estimation/measurements/baro.h>

namespace hector_quadrotor_pose_estimation {

QuadrotorPoseEstimationNode::QuadrotorPoseEstimationNode(const SystemPtr& system, const StatePtr& state)
  : PoseEstimationNode(system, state)
{
  pose_estimation_->addMeasurement(new Baro("baro"));
}

QuadrotorPoseEstimationNode::~QuadrotorPoseEstimationNode()
{
}

bool QuadrotorPoseEstimationNode::init() {
  if (!PoseEstimationNode::init()) return false;
  baro_subscriber_ = getNodeHandle().subscribe("altimeter", 10, &QuadrotorPoseEstimationNode::baroCallback, this);
  height_subscriber_.shutdown();
  return true;
}

void QuadrotorPoseEstimationNode::baroCallback(const hector_uav_msgs::AltimeterConstPtr& altimeter) {
  pose_estimation_->getMeasurement("baro")->add(Baro::Update(altimeter->pressure, altimeter->qnh));

  if (sensor_pose_publisher_) {
    boost::shared_ptr<Baro> baro = boost::static_pointer_cast<Baro>(pose_estimation_->getMeasurement("baro"));
    sensor_pose_.pose.position.z = baro->getModel()->getAltitude(Baro::Update(altimeter->pressure, altimeter->qnh)) - baro->getElevation();
  }
}

} // namespace hector_quadrotor_pose_estimation