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00001 //================================================================================================= 00002 // Copyright (c) 2011, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_POSE_ESTIMATION_BARO_H 00030 #define HECTOR_POSE_ESTIMATION_BARO_H 00031 00032 #include <hector_pose_estimation/measurement.h> 00033 #include <bfl/wrappers/matrix/matrix_wrapper.h> 00034 #include "height.h" 00035 00036 #ifdef USE_HECTOR_UAV_MSGS 00037 #include <hector_uav_msgs/Altimeter.h> 00038 #endif 00039 00040 namespace hector_pose_estimation { 00041 00042 class BaroModel : public HeightModel 00043 { 00044 public: 00045 BaroModel(); 00046 virtual ~BaroModel(); 00047 00048 virtual ColumnVector ExpectedValueGet() const; 00049 virtual Matrix dfGet(unsigned int i) const; 00050 00051 void setQnh(double qnh) { qnh_ = qnh; } 00052 double getQnh() const { return qnh_; } 00053 00054 double getAltitude(const Update_<BaroModel>& update); 00055 00056 protected: 00057 double qnh_; 00058 }; 00059 00060 class BaroUpdate : public Update_<BaroModel> { 00061 public: 00062 BaroUpdate(); 00063 BaroUpdate(double pressure); 00064 BaroUpdate(double pressure, double qnh); 00065 double qnh() const { return qnh_; } 00066 BaroUpdate& qnh(double qnh) { qnh_ = qnh; return *this; } 00067 00068 private: 00069 double qnh_; 00070 }; 00071 00072 class Baro : public Measurement_<BaroModel,BaroUpdate>, HeightBaroCommon 00073 { 00074 public: 00075 Baro(const std::string& name = "baro") : Measurement_<BaroModel,BaroUpdate>(name), HeightBaroCommon(this) {} 00076 virtual ~Baro() {} 00077 00078 void setElevation(double elevation) { getModel()->setElevation(elevation); } 00079 double getElevation() const { return getModel()->getElevation(); } 00080 00081 void setQnh(double qnh) { getModel()->setQnh(qnh); } 00082 double getQnh() const { return getModel()->getQnh(); } 00083 00084 virtual void onReset(); 00085 virtual bool beforeUpdate(PoseEstimation &estimator, const Update &update); 00086 }; 00087 00088 } // namespace hector_pose_estimation 00089 00090 #endif // HECTOR_POSE_ESTIMATION_BARO_H