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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_GPS_H 00030 #define HECTOR_POSE_ESTIMATION_GPS_H 00031 00032 #include <hector_pose_estimation/measurement.h> 00033 #include <hector_pose_estimation/global_reference.h> 00034 #include <bfl/wrappers/matrix/matrix_wrapper.h> 00035 00036 namespace hector_pose_estimation { 00037 00038 class GPSModel : public MeasurementModel { 00039 public: 00040 static const unsigned int MeasurementDimension = 4; 00041 typedef ColumnVector_<MeasurementDimension> MeasurementVector; 00042 typedef SymmetricMatrix_<MeasurementDimension> NoiseCovariance; 00043 00044 GPSModel(); 00045 virtual ~GPSModel(); 00046 00047 virtual bool init(); 00048 virtual SystemStatus getStatusFlags() const; 00049 00050 virtual ColumnVector ExpectedValueGet() const; 00051 virtual Matrix dfGet(unsigned int i) const; 00052 00053 protected: 00054 double position_stddev_; 00055 double velocity_stddev_; 00056 }; 00057 00058 struct GPSUpdate : public MeasurementUpdate { 00059 double latitude; 00060 double longitude; 00061 double velocity_north; 00062 double velocity_east; 00063 }; 00064 00065 class GPS : public Measurement_<GPSModel,GPSUpdate> 00066 { 00067 public: 00068 GPS(const std::string& name = "gps"); 00069 virtual ~GPS(); 00070 00071 void onReset(); 00072 00073 GPSModel::MeasurementVector const& getVector(const GPSUpdate &update); 00074 bool beforeUpdate(PoseEstimation &estimator, const GPSUpdate &update); 00075 00076 private: 00077 GlobalReference *reference_; 00078 GPSUpdate last_; 00079 GPSModel::MeasurementVector y_; 00080 }; 00081 00082 } // namespace hector_pose_estimation 00083 00084 #endif // HECTOR_POSE_ESTIMATION_GPS_H