pose_estimation_node.cpp

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//=================================================================================================
// Copyright (c) 2012-2016, Institute of Flight Systems and Automatic Control,
// Technische Universität Darmstadt.
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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