gravity.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_GRAVITY_H
#define HECTOR_POSE_ESTIMATION_GRAVITY_H
 
#include <hector_pose_estimation/measurement.h>
 
namespace hector_pose_estimation {
 
class GravityModel : public MeasurementModel_<GravityModel,3> {
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  using MeasurementModel_<GravityModel,3>::MeasurementVector;
  using MeasurementModel_<GravityModel,3>::NoiseVariance;
 
  GravityModel();
  virtual ~GravityModel();
 
  virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state);
 
  virtual void setGravity(double gravity) { gravity_.z() = gravity; }
  virtual double getGravity() const { return gravity_.z(); }
 
  virtual bool active(const State &state) { return true; } // always update, even during alignment
  virtual SystemStatus getStatusFlags() { return STATE_PSEUDO_ROLLPITCH; }
 
  virtual void getMeasurementNoise(NoiseVariance& R, const State&, bool init);
  virtual void getExpectedValue(MeasurementVector& y_pred, const State& state);
  virtual void getStateJacobian(MeasurementMatrix& C, const State& state, bool init);
 
protected:
  double stddev_;
  std::string use_bias_;
  MeasurementVector gravity_;
  SubState_<3>::Ptr bias_;
};
 
typedef Measurement_<GravityModel> Gravity;
extern template class Measurement_<GravityModel>;
 
} // namespace hector_pose_estimation
 
#endif // HECTOR_POSE_ESTIMATION_GRAVITY_H