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00001 //================================================================================================= 00002 // Copyright (c) 2011, Johannes Meyer and Martin Nowara, 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_MEASUREMENT_MODEL_H 00030 #define HECTOR_POSE_ESTIMATION_MEASUREMENT_MODEL_H 00031 00032 #include <bfl/model/analyticmeasurementmodel_gaussianuncertainty.h> 00033 #include <bfl/pdf/analyticconditionalgaussian_additivenoise.h> 00034 00035 #include <hector_pose_estimation/parameters.h> 00036 #include <hector_pose_estimation/types.h> 00037 00038 #include <string> 00039 00040 namespace hector_pose_estimation { 00041 00042 class MeasurementModel : public BFL::AnalyticConditionalGaussianAdditiveNoise, public BFL::AnalyticMeasurementModelGaussianUncertainty { 00043 public: 00044 MeasurementModel(unsigned int dimension, unsigned int conditional_arguments = 0); 00045 virtual ~MeasurementModel(); 00046 00047 virtual bool init() { return true; } 00048 virtual void cleanup() { } 00049 virtual void reset() { } 00050 00051 virtual SystemStatus getStatusFlags() const { return SystemStatus(0); } 00052 virtual bool applyStatusMask(const SystemStatus& status) { return true; } 00053 00054 ParameterList& parameters() { return parameters_; } 00055 const ParameterList& parameters() const { return parameters_; } 00056 00057 virtual ColumnVector ExpectedValueGet() const = 0; 00058 virtual Matrix dfGet(unsigned int i) const = 0; 00059 00060 using BFL::AnalyticConditionalGaussianAdditiveNoise::CovarianceGet; 00061 using BFL::AnalyticMeasurementModelGaussianUncertainty::CovarianceGet; 00062 00063 protected: 00064 ParameterList parameters_; 00065 const StateVector& x_; 00066 const ColumnVector& u_; 00067 mutable ColumnVector y_; 00068 mutable Matrix C_; 00069 mutable Matrix D_; 00070 }; 00071 00072 } // namespace hector_pose_estimation 00073 00074 #endif // HECTOR_POSE_ESTIMATION_MEASUREMENT_MODEL_H