gravity.h

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

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// modification, are permitted provided that the following conditions are met:
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//     * Redistributions in binary form must reproduce the above copyright
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//       TU Darmstadt, nor the names of its contributors may be used to
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#ifndef HECTOR_POSE_ESTIMATION_GRAVITY_H
#define HECTOR_POSE_ESTIMATION_GRAVITY_H

#include <hector_pose_estimation/measurement.h>
#include <bfl/wrappers/matrix/matrix_wrapper.h>

namespace hector_pose_estimation {

class GravityModel : public MeasurementModel {
public:
  static const unsigned int MeasurementDimension = 3;
  typedef ColumnVector_<MeasurementDimension> MeasurementVector;
  typedef SymmetricMatrix_<MeasurementDimension> NoiseCovariance;

  GravityModel();
  virtual ~GravityModel();

  virtual bool init();

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

  bool applyStatusMask(const SystemStatus &status) const;
  virtual SystemStatus getStatusFlags() const;

  virtual ColumnVector ExpectedValueGet() const;
  virtual Matrix dfGet(unsigned int i) const;

protected:
  double stddev_;
  double gravity_;
};

class Gravity : public Measurement_<GravityModel>
{
public:
  Gravity(const std::string& name = "gravity") : Measurement_<GravityModel>(name) {}
  bool beforeUpdate(PoseEstimation &estimator, const Update &update);
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_GRAVITY_H