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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_MAGNETIC_H 00030 #define HECTOR_POSE_ESTIMATION_MAGNETIC_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 MagneticModel : public MeasurementModel { 00039 public: 00040 static const unsigned int MeasurementDimension = 3; 00041 typedef ColumnVector_<MeasurementDimension> MeasurementVector; 00042 typedef SymmetricMatrix_<MeasurementDimension> NoiseCovariance; 00043 00044 MagneticModel(); 00045 virtual ~MagneticModel(); 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 double getMagneticHeading(const MeasurementVector& y) const; 00054 double getTrueHeading(const MeasurementVector& y) const; 00055 00056 void setReference(const GlobalReference::Heading &reference_heading); 00057 bool hasMagnitude() const { return magnitude_ != 0.0; } 00058 00059 protected: 00060 double stddev_; 00061 double declination_, inclination_, magnitude_; 00062 void updateMagneticField(); 00063 00064 MeasurementVector magnetic_field_north_; 00065 MeasurementVector magnetic_field_reference_; 00066 mutable Matrix C_full_; 00067 }; 00068 00069 class Magnetic : public Measurement_<MagneticModel> 00070 { 00071 public: 00072 Magnetic(const std::string& name = "height"); 00073 virtual ~Magnetic() {} 00074 00075 virtual void onReset(); 00076 00077 virtual MeasurementVector const& getVector(const Update &update); 00078 virtual NoiseCovariance const& getCovariance(const Update &update); 00079 00080 virtual bool beforeUpdate(PoseEstimation &estimator, const Update &update); 00081 00082 private: 00083 bool auto_heading_; 00084 GlobalReference *reference_; 00085 00086 MeasurementVector y_; 00087 NoiseCovariance R_; 00088 }; 00089 00090 } // namespace hector_pose_estimation 00091 00092 #endif // HECTOR_POSE_ESTIMATION_MAGNETIC_H