imu_input.h

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//=================================================================================================
// Copyright (c) 2012, 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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//       TU Darmstadt, nor the names of its contributors may be used to
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#include <hector_pose_estimation/system_input.h>
#include <hector_pose_estimation/matrix.h>
#include <sensor_msgs/Imu.h>

#ifndef HECTOR_POSE_ESTIMATION_IMU_INPUT_H
#define HECTOR_POSE_ESTIMATION_IMU_INPUT_H

namespace hector_pose_estimation {

class ImuInput : public SystemInput
{
public:
  enum InputIndex {
    ACCEL_X = 1,
    ACCEL_Y,
    ACCEL_Z,
    GYRO_X,
    GYRO_Y,
    GYRO_Z
  };
  static const unsigned int InputDimension = GYRO_Z;
  typedef ColumnVector_<InputDimension> InputVector;

  ImuInput()
    : u_(InputDimension)
  {}
  ImuInput(InputVector const& u)
    : u_(InputDimension)
  {
    setValue(u);
  }
  ImuInput(const sensor_msgs::Imu& imu)
    : u_(InputDimension)
  {
    setValue(imu);
  }
  virtual ~ImuInput() {}

  virtual void setValue(InputVector const& u) { u_ = u; }
  virtual void setValue(const sensor_msgs::Imu& imu) {
    u_(ACCEL_X) = imu.linear_acceleration.x;
    u_(ACCEL_Y) = imu.linear_acceleration.y;
    u_(ACCEL_Z) = imu.linear_acceleration.z;
    u_(GYRO_X)  = imu.angular_velocity.x;
    u_(GYRO_Y)  = imu.angular_velocity.y;
    u_(GYRO_Z)  = imu.angular_velocity.z;
  }

  virtual InputVector const &getVector() const { return u_; }
  virtual ColumnVector_<3> getAccel() const { return u_.sub(ACCEL_X, ACCEL_Z); }
  virtual ColumnVector_<3> getRate() const { return u_.sub(GYRO_X, GYRO_Z); }

  virtual InputVector &operator=(InputVector const& u) { setValue(u); return u_; }
  virtual InputVector &operator=(const sensor_msgs::Imu& imu) { setValue(imu); return u_; }

protected:
  InputVector u_;
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_IMU_INPUT_H