height.h

Go to the documentation of this file.

//=================================================================================================
// 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
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef HECTOR_POSE_ESTIMATION_HEIGHT_H
#define HECTOR_POSE_ESTIMATION_HEIGHT_H

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

namespace hector_pose_estimation {

class HeightModel : public MeasurementModel {
public:
  static const unsigned int MeasurementDimension = 1;
  typedef ColumnVector_<MeasurementDimension> MeasurementVector;
  typedef SymmetricMatrix_<MeasurementDimension> NoiseCovariance;

  HeightModel();
  virtual ~HeightModel();

  virtual bool init();
  virtual SystemStatus getStatusFlags() const;

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

  void setElevation(double elevation) { elevation_ = elevation; }
  double getElevation() const { return elevation_; }

protected:
  double stddev_;
  double elevation_;
};

class HeightBaroCommon
{
public:
  HeightBaroCommon(Measurement *measurement);
  virtual ~HeightBaroCommon();

  void onReset();
  double resetElevation(PoseEstimation &estimator, boost::function<double()> altitude_func);

private:
  bool auto_elevation_;
  bool elevation_initialized_;
};

class Height : public Measurement_<HeightModel>, HeightBaroCommon
{
public:
  Height(const std::string& name = "height") : Measurement_<HeightModel>(name), HeightBaroCommon(this) {}
  virtual ~Height() {}

  void setElevation(double elevation) { getModel()->setElevation(elevation); }
  double getElevation() const { return getModel()->getElevation(); }

  virtual void onReset();
  virtual bool beforeUpdate(PoseEstimation &estimator, const Update &update);
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_HEIGHT_H