measurement_update.h

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
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#ifndef HECTOR_POSE_ESTIMATION_MEASUREMENT_UPDATE_H
#define HECTOR_POSE_ESTIMATION_MEASUREMENT_UPDATE_H

#include <boost/type_traits/is_base_of.hpp>

namespace hector_pose_estimation {

class MeasurementUpdate
{
public:
  MeasurementUpdate() {}
  virtual ~MeasurementUpdate() {}

  virtual bool hasCovariance() const { return false; }
};

template <class MeasurementModel>
class Update_ : public MeasurementUpdate {
public:
  typedef Update_<MeasurementModel> Type;
  typedef typename MeasurementModel::MeasurementVector Vector;
  typedef typename MeasurementModel::NoiseCovariance Covariance;

  Update_()
    : y_(MeasurementModel::MeasurementDimension)
    , has_covariance_(false)
  {}
  Update_(Vector const& y)
    : y_(MeasurementModel::MeasurementDimension)
    , has_covariance_(false)
  {
    setValue(y);
  }
  Update_(double y)
    : y_(MeasurementModel::MeasurementDimension)
    , has_covariance_(false)
  {
    setValue(y);
  }
  virtual ~Update_() {}

  virtual void setValue(Vector const& y) { y_ = y; }
  virtual void setValue(double y) { y_(1) = y; }

  virtual void setCovariance(Covariance const& R) { R_ = R; has_covariance_ = true; }
  virtual Vector const &getVector() const { return y_; }
  virtual Covariance const &getCovariance() const { return R_; }

  virtual Vector &operator=(Vector const& y) { setValue(y); return y_; }
  virtual Vector &operator=(double y) { setValue(y); return y_; }

  virtual bool hasCovariance() const { return has_covariance_; }

protected:
  Vector y_;
  Covariance R_;
  bool has_covariance_;
};

namespace internal {
  template <class ConcreteModel, class ConcreteUpdate = typename Update_<ConcreteModel>::Type, class Enable = void>
  struct UpdateInspector {
    static typename ConcreteModel::MeasurementVector const& getVector(const ConcreteUpdate &, const ConcreteModel*) {
      throw std::runtime_error("You have to implement the UpdateInspector template class for your update type if you do not inherit from the Update_<MeasurementModel> class.");
    }
    static typename ConcreteModel::NoiseCovariance const& getCovariance(const ConcreteUpdate &, const ConcreteModel*) {
      throw std::runtime_error("You have to implement the UpdateInspector template class for your update type if you do not inherit from the Update_<MeasurementModel> class.");
    }
  };

  template <class ConcreteModel, class ConcreteUpdate>
  struct UpdateInspector<ConcreteModel, ConcreteUpdate, typename boost::enable_if<boost::is_base_of<typename Update_<ConcreteModel>::Type,ConcreteUpdate> >::type >
  {
    static typename ConcreteModel::MeasurementVector const& getVector(const ConcreteUpdate &update, const ConcreteModel*) { return update.getVector(); }
    static typename ConcreteModel::NoiseCovariance const& getCovariance(const ConcreteUpdate &update, const ConcreteModel*) { return update.getCovariance(); }
  };
}

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_MEASUREMENT_UPDATE_H