height.h

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
// All rights reserved.
 
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// modification, are permitted provided that the following conditions are met:
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//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//       TU Darmstadt, nor the names of its contributors may be used to
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#ifndef HECTOR_POSE_ESTIMATION_HEIGHT_H
#define HECTOR_POSE_ESTIMATION_HEIGHT_H
 
#include <hector_pose_estimation/measurement.h>
 
namespace hector_pose_estimation {
 
class HeightModel : public MeasurementModel_<HeightModel,1> {
public:
  HeightModel();
  virtual ~HeightModel();
 
  virtual SystemStatus getStatusFlags() { return STATE_POSITION_Z; }
 
  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);
 
  void setElevation(double elevation) { elevation_ = elevation; }
  double getElevation() const { return elevation_; }
 
protected:
  double stddev_;
  double elevation_;
};
 
extern template class Measurement_<HeightModel>;
 
class HeightBaroCommon
{
public:
  HeightBaroCommon(Measurement *measurement);
  virtual ~HeightBaroCommon();
 
  virtual void onReset();
  double resetElevation(const State &state, boost::function<double()> altitude_func);
 
protected:
  bool auto_elevation_;
  bool elevation_initialized_;
};
 
class Height : public Measurement_<HeightModel>, HeightBaroCommon
{
public:
  Height(const std::string& name = "height");
  virtual ~Height() {}
 
  void setElevation(double elevation) { getModel()->setElevation(elevation); }
  double getElevation() const { return getModel()->getElevation(); }
 
  virtual void onReset();
  virtual bool prepareUpdate(State &state, const Update &update);
};
 
} // namespace hector_pose_estimation
 
#endif // HECTOR_POSE_ESTIMATION_HEIGHT_H