generic_quaternion_system_model.h

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
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//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

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//=================================================================================================

#ifndef HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H
#define HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H

#include <hector_pose_estimation/system_model.h>
#include <hector_pose_estimation/system/imu_input.h>

namespace hector_pose_estimation {

class GenericQuaternionSystemModel;
template <> struct Input_<GenericQuaternionSystemModel> {
  typedef ImuInput Type;
};

class GenericQuaternionSystemModel : public SystemModel
{
public:
  static const unsigned int InputDimension = ImuInput::InputDimension;
  typedef ImuInput::InputVector InputVector;

  GenericQuaternionSystemModel();
  virtual ~GenericQuaternionSystemModel();

  virtual std::string getName() const { return "GenericQuaternionSystemModel"; }
  virtual bool init();

  virtual SystemStatus getStatusFlags() const;

  virtual ColumnVector ExpectedValueGet(double dt) const;
  virtual SymmetricMatrix CovarianceGet(double dt) const;
  virtual Matrix dfGet(unsigned int i, double dt) const;

  virtual void Limit(StateVector& x) const;

  void setGravity(double gravity) { gravity_ = gravity; }
  double getGravity() const { return gravity_; }

protected:
  static void normalize(StateVector& x);

protected:
  double gravity_;
  double rate_stddev_;
#ifdef USE_RATE_SYSTEM_MODEL
  double angular_acceleration_stddev_;
#endif // USE_RATE_SYSTEM_MODEL
  double acceleration_stddev_;
  double velocity_stddev_;
  double acceleration_drift_;
  double rate_drift_;

  mutable double q0,q1,q2,q3;
  mutable SymmetricMatrix_<StateDimension> noise_;
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H