height.cpp

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer, 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
//       documentation and/or other materials provided with the distribution.
//     * 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.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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//=================================================================================================

#include <hector_pose_estimation/measurements/height.h>
#include <hector_pose_estimation/pose_estimation.h>
#include <ros/console.h>

#include <boost/bind.hpp>

namespace hector_pose_estimation {

HeightModel::HeightModel()
  : MeasurementModel(MeasurementDimension)
{
  stddev_ = 10.0;
  elevation_ = 0.0;
  parameters().add("stddev", stddev_);
}

bool HeightModel::init()
{
  NoiseCovariance noise = 0.0;
  noise(1,1) = pow(stddev_, 2);
  this->AdditiveNoiseSigmaSet(noise);
  return true;
}

HeightModel::~HeightModel() {}

SystemStatus HeightModel::getStatusFlags() const {
  return STATE_Z_POSITION;
}

ColumnVector HeightModel::ExpectedValueGet() const {
  this->y_(1) = x_(POSITION_Z) + getElevation();
  return y_;
}

Matrix HeightModel::dfGet(unsigned int i) const {
  if (i != 0) return Matrix();
  C_(1,POSITION_Z) = 1.0;
  return C_;
}

HeightBaroCommon::HeightBaroCommon(Measurement* parent)
{
  auto_elevation_ = true;
  elevation_initialized_ = false;
  parent->parameters().add("auto_elevation", auto_elevation_);
}

HeightBaroCommon::~HeightBaroCommon() {}

void HeightBaroCommon::onReset() {
  elevation_initialized_ = false;
}

double HeightBaroCommon::resetElevation(PoseEstimation &estimator, boost::function<double()> altitude_func) {
  if (!elevation_initialized_) {
    estimator.globalReference()->setCurrentAltitude(estimator, altitude_func());
    elevation_initialized_ = true;
  }

  return estimator.globalReference()->position().altitude;
}

void Height::onReset() {
  HeightBaroCommon::onReset();
}

template <typename T> struct functor_wrapper
{
  functor_wrapper(const T& value) : value(value) {}
  T& operator()() { return value; }
  const T& operator()() const { return value; }
private:
  T value;
};

bool Height::beforeUpdate(PoseEstimation &estimator, const Height::Update &update) {
  setElevation(resetElevation(estimator, functor_wrapper<double>(update.getVector()(1))));
  return true;
}

} // namespace hector_pose_estimation