baro.h

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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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//=================================================================================================
 
#ifndef HECTOR_POSE_ESTIMATION_BARO_H
#define HECTOR_POSE_ESTIMATION_BARO_H
 
#include <hector_pose_estimation/measurement.h>
#include <hector_pose_estimation/measurements/height.h>
 
#ifdef USE_HECTOR_UAV_MSGS
  #include <hector_uav_msgs/Altimeter.h>
#endif
 
namespace hector_pose_estimation {
 
class BaroUpdate;
 
class BaroModel : public HeightModel
{
public:
  BaroModel();
  virtual ~BaroModel();
 
  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
 
  void setQnh(double qnh) { qnh_ = qnh; }
  double getQnh() const { return qnh_; }
 
  double getAltitude(const BaroUpdate& update);
 
protected:
  double qnh_;
};
 
class BaroUpdate : public Update_<BaroModel> {
public:
  BaroUpdate();
  BaroUpdate(double pressure);
  BaroUpdate(double pressure, double qnh);
  double qnh() const { return qnh_; }
  BaroUpdate& qnh(double qnh) { qnh_ = qnh; return *this; }
 
  using Update_<BaroModel>::operator =;
 
private:
  double qnh_;
};
 
namespace traits {
  template <> struct Update<BaroModel> { typedef BaroUpdate type; };
}
 
extern template class Measurement_<BaroModel>;
 
class Baro : public Measurement_<BaroModel>, HeightBaroCommon
{
public:
  using Measurement_<BaroModel>::Model;
  using Measurement_<BaroModel>::Update;
 
  enum { MeasurementDimension = Measurement_<BaroModel>::MeasurementDimension };
  using Measurement_<BaroModel>::MeasurementVector;
  using Measurement_<BaroModel>::NoiseVariance;
 
  Baro(const std::string& name = "baro");
  virtual ~Baro() {}
 
  void setElevation(double elevation) { getModel()->setElevation(elevation); }
  double getElevation() const { return getModel()->getElevation(); }
 
  void setQnh(double qnh) { getModel()->setQnh(qnh); }
  double getQnh() const { return getModel()->getQnh(); }
 
  virtual void onReset();
  virtual bool prepareUpdate(State &state, const Update &update);
};
 
} // namespace hector_pose_estimation
 
#endif // HECTOR_POSE_ESTIMATION_BARO_H