magnetic.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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//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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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
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#ifndef HECTOR_POSE_ESTIMATION_MAGNETIC_H
#define HECTOR_POSE_ESTIMATION_MAGNETIC_H

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

namespace hector_pose_estimation {

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

  MagneticModel();
  virtual ~MagneticModel();

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

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

  double getMagneticHeading(const StateVector& state, const MeasurementVector& y) const;
  double getTrueHeading(const StateVector& state, const MeasurementVector& y) const;

  void setReference(const GlobalReference::Heading &reference_heading);
  bool hasMagnitude() const { return magnitude_ != 0.0; }

protected:
  double stddev_;
  double declination_, inclination_, magnitude_;
  void updateMagneticField();

  MeasurementVector magnetic_field_north_;
  MeasurementVector magnetic_field_reference_;
//  mutable Matrix C_full_;
};

class Magnetic : public Measurement_<MagneticModel>
{
public:
  Magnetic(const std::string& name = "height");
  virtual ~Magnetic() {}

  virtual void onReset();

  virtual MeasurementVector const& getVector(const Update &update);
  virtual NoiseCovariance const& getCovariance(const Update &update);

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

private:
  bool auto_heading_;
  GlobalReference *reference_;
  ColumnVector deviation_;

  MeasurementVector y_;
  NoiseCovariance R_;
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_MAGNETIC_H