poseupdate.h

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
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//       TU Darmstadt, nor the names of its contributors may be used to
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#ifndef HECTOR_POSE_ESTIMATION_POSEUPDATE_H
#define HECTOR_POSE_ESTIMATION_POSEUPDATE_H

#include <hector_pose_estimation/measurement.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <geometry_msgs/TwistWithCovarianceStamped.h>

#include <boost/function.hpp>

namespace hector_pose_estimation {

class PositionXYModel : public MeasurementModel {
public:
  static const unsigned int MeasurementDimension = 2;
  typedef ColumnVector_<MeasurementDimension> MeasurementVector;
  typedef SymmetricMatrix_<MeasurementDimension> NoiseCovariance;

  PositionXYModel() : MeasurementModel(MeasurementDimension) {}
  virtual ~PositionXYModel() {}

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

  void updateState(const SymmetricMatrix &Px, const ColumnVector &x, const ColumnVector &diff, SymmetricMatrix &Pxy, ColumnVector &xy) const;
};

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

  PositionZModel() : MeasurementModel(MeasurementDimension) {}
  virtual ~PositionZModel() {}

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

  void updateState(const SymmetricMatrix &Px, const ColumnVector &x, const ColumnVector &diff, SymmetricMatrix &Pxy, ColumnVector &xy) const;
};

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

  YawModel() : MeasurementModel(MeasurementDimension) {}
  virtual ~YawModel() {}

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

  void updateState(const SymmetricMatrix &Px, const ColumnVector &x, const ColumnVector &diff, SymmetricMatrix &Pxy, ColumnVector &xy) const;
};

class TwistModel : public MeasurementModel {
public:
  static const unsigned int MeasurementDimension = 6;
  typedef ColumnVector_<MeasurementDimension> MeasurementVector;
  typedef SymmetricMatrix_<MeasurementDimension> NoiseCovariance;

  TwistModel() : MeasurementModel(MeasurementDimension) {}
  virtual ~TwistModel() {}

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

class PoseUpdate : public Measurement
{
public:
  PoseUpdate(const std::string& name = "poseupdate");
  virtual ~PoseUpdate();

  class Update : public MeasurementUpdate {
  public:
    Update() {}
    Update(const geometry_msgs::PoseWithCovarianceStamped& pose) : pose(new geometry_msgs::PoseWithCovarianceStamped(pose)) {}
    Update(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose) : pose(pose) {}
    Update(const geometry_msgs::TwistWithCovarianceStamped& twist) : twist(new geometry_msgs::TwistWithCovarianceStamped(twist)) {}
    Update(const geometry_msgs::TwistWithCovarianceStampedConstPtr& twist) : twist(twist) {}
    Update(const geometry_msgs::PoseWithCovarianceStamped& pose, const geometry_msgs::TwistWithCovarianceStamped& twist) : pose(new geometry_msgs::PoseWithCovarianceStamped(pose)), twist(new geometry_msgs::TwistWithCovarianceStamped(twist)) {}
    Update(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose, const geometry_msgs::TwistWithCovarianceStampedConstPtr& twist) : pose(pose), twist(twist) {}
    geometry_msgs::PoseWithCovarianceStampedConstPtr pose;
    geometry_msgs::TwistWithCovarianceStampedConstPtr twist;
  };

  bool update(PoseEstimation &estimator, const MeasurementUpdate &update);

private:
  PositionXYModel position_xy_model_;
  PositionZModel position_z_model_;
  YawModel yaw_model_;
  TwistModel twist_model_;

  double fixed_alpha_, fixed_beta_;
  bool interpret_covariance_as_information_matrix_;

  double fixed_position_xy_stddev_;
  double fixed_position_z_stddev_;
  double fixed_yaw_stddev_;

  double fixed_velocity_xy_stddev_;
  double fixed_velocity_z_stddev_;
  double fixed_angular_rate_xy_stddev_;
  double fixed_angular_rate_z_stddev_;

  double max_time_difference_;
  double max_position_xy_error_;
  double max_position_z_error_;
  double max_yaw_error_;

  double max_velocity_xy_error_;
  double max_velocity_z_error_;
  double max_angular_rate_xy_error_;
  double max_angular_rate_z_error_;

  bool jump_on_max_error_;

  typedef boost::function<void(const SymmetricMatrix &Px, const ColumnVector &x, const ColumnVector &diff, SymmetricMatrix &Pxy, ColumnVector &xy)> JumpFunction;
  double calculateOmega(const SymmetricMatrix &Ix, const SymmetricMatrix &Iy) const;
  double updateInternal(const SymmetricMatrix &Px, const ColumnVector &x, const SymmetricMatrix &Iy, const ColumnVector &error, const Matrix &H, SymmetricMatrix &Pxy, ColumnVector &xy, const std::string& text, const double max_error = 0.0, JumpFunction jump_function = JumpFunction());

protected:
  Queue_<Update> queue_;
  virtual Queue& queue() { return queue_; }
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_POSEUPDATE_H