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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 #include <hector_pose_estimation/system.h> 00030 #include <hector_pose_estimation/pose_estimation.h> 00031 #include <bfl/filter/kalmanfilter.h> 00032 00033 namespace hector_pose_estimation { 00034 00035 System::System(const std::string &name) 00036 : name_(name) 00037 , status_flags_(0) 00038 , prior_(StateDimension) 00039 { 00040 } 00041 00042 System::~System() { 00043 } 00044 00045 BFL::Gaussian *System::getPrior() 00046 { 00047 getModel()->getPrior(prior_); 00048 return &prior_; 00049 } 00050 00051 bool System::init() 00052 { 00053 if (!getModel()) return false; 00054 return getModel()->init(); 00055 } 00056 00057 void System::cleanup() 00058 { 00059 getModel()->cleanup(); 00060 } 00061 00062 void System::reset() 00063 { 00064 getModel()->reset(); 00065 } 00066 00067 void System::updateInternal(PoseEstimation &estimator, double dt, ColumnVector const& u) { 00068 ROS_DEBUG("Updating with system model %s", getName().c_str()); 00069 00070 // std::cout << " dt = " << dt << ", u = [" << u.transpose() << "]" << std::endl; 00071 00072 getModel()->set_dt(dt); 00073 getModel()->setMeasurementStatus(estimator.getMeasurementStatus()); 00074 estimator.filter()->Update(getModel(), u); 00075 updated(); 00076 estimator.updated(); 00077 00078 // std::cout << "x_pred = [" << estimator.getState().transpose() << "]" << std::endl; 00079 // std::cout << "P_pred = [" << estimator.getCovariance() << "]" << std::endl; 00080 } 00081 00082 void System::updated() { 00083 if (getModel()) status_flags_ = getModel()->getStatusFlags(); 00084 } 00085 00086 StateVector System::limitState(StateVector state) const { 00087 getModel()->Limit(state); 00088 return state; 00089 } 00090 00091 } // namespace hector_pose_estimation