measurement.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
// 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
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#include <hector_pose_estimation/measurement.h>
#include <hector_pose_estimation/pose_estimation.h>
#include <ros/console.h>

namespace hector_pose_estimation {

Measurement::Measurement(const std::string& name)
  : name_(name)
  , status_flags_(0)
  , enabled_(true)
  , min_interval_(0.0)
  , timeout_(1.0)
  , timer_(0.0)
{
  parameters().add("enabled", enabled_);
  parameters().add("min_interval", min_interval_);
  parameters().add("timeout", timeout_);
}

Measurement::~Measurement()
{
}

bool Measurement::init()
{
  return onInit();
}

void Measurement::cleanup()
{
  onCleanup();
}

void Measurement::reset()
{
  queue().clear();
  timer_ = 0;
  onReset();
}

void Measurement::increase_timer(double dt) {
  timer_ += dt;
}

void Measurement::updated() {
  timer_ = 0.0;
  if (getModel()) status_flags_ = getModel()->getStatusFlags();
}

bool Measurement::timedout() const {
  if (timer_ > timeout_) {
    if (status_flags_ > 0) ROS_WARN("Measurement %s timed out.", getName().c_str());
    return true;
  }
  return false;
}

void Measurement::add(const MeasurementUpdate& update) {
  queue().push(update);
}

void Measurement::process(PoseEstimation &estimator) {
  while(!(queue().empty())) {
    update(estimator, queue().pop());
  }

  // check for timeout
  if (timedout()) status_flags_ = 0;
}

void Measurement::updateInternal(PoseEstimation &estimator, ColumnVector const& y) {
  ROS_DEBUG("Updating with measurement %s", getName().c_str());

//  std::cout << "[" << getName() << "] x_prior   = [" << estimator.getState().transpose() << "]" << std::endl;
//  std::cout << "[" << getName() << "] P_prior   = [" << estimator.getCovariance() << "]" << std::endl;
//  std::cout << "[" << getName() << "] update    = [" << y.transpose() << "]" << std::endl;

  estimator.filter()->Update(getModel(), y);
  updated();
  estimator.updated();

//  std::cout << "[" << getName() << "] expected  = [" << getModel()->ExpectedValueGet().transpose() << "]" << std::endl;
//  std::cout << "[" << getName() << "] R         = [" << getModel()->CovarianceGet() << "]" << std::endl;
//  std::cout << "[" << getName() << "] H = dy/dx = [" << getModel()->dfGet(0) << "]" << std::endl;
//  std::cout << "[" << getName() << "] x_post    = [" << estimator.getState().transpose() << "]" << std::endl;
//  std::cout << "[" << getName() << "] P_post    = [" << estimator.getCovariance() << "]" << std::endl;
}

} // namespace hector_pose_estimation