types.h

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer and Martin Nowara, 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
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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
//       endorse or promote products derived from this software without
//       specific prior written permission.

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#ifndef HECTOR_POSE_ESTIMATION_TYPES_H
#define HECTOR_POSE_ESTIMATION_TYPES_H

#include <hector_pose_estimation/matrix.h>

// Use system model with angular rates.
// #define USE_RATE_SYSTEM_MODEL

namespace hector_pose_estimation {

  enum StateIndex {
    QUATERNION_W = 1,
    QUATERNION_X,
    QUATERNION_Y,
    QUATERNION_Z,
#ifdef USE_RATE_SYSTEM_MODEL
    RATE_X,
    RATE_Y,
    RATE_Z,
#endif // USE_RATE_SYSTEM_MODEL
    POSITION_X,
    POSITION_Y,
    POSITION_Z,
    VELOCITY_X,
    VELOCITY_Y,
    VELOCITY_Z,
    BIAS_ACCEL_X,
    BIAS_ACCEL_Y,
    BIAS_ACCEL_Z,
    BIAS_GYRO_X,
    BIAS_GYRO_Y,
    BIAS_GYRO_Z,
  };
  static const unsigned int StateDimension = BIAS_GYRO_Z;
  typedef ColumnVector_<StateDimension> StateVector;
  typedef SymmetricMatrix_<StateDimension> StateCovariance;

  enum {
    STATE_ALIGNMENT = 1,
    STATE_DEGRADED = 2,
    STATE_READY = 4,

    STATE_ROLLPITCH = 8,
    STATE_YAW = 16,
    STATE_XY_VELOCITY = 32,
    STATE_XY_POSITION = 64,
    STATE_Z_VELOCITY = 128,
    STATE_Z_POSITION = 256,

    STATE_ALL = -1
  };
  typedef unsigned int SystemStatus;

  static const char* const SystemStatusStrings[] = {
    "ALIGNMENT", "DEGRADED", "READY", "ROLLPITCH", "YAW", "XY_VELOCITY", "XY_POSITION", "Z_VELOCITY", "Z_POSITION"
  };
  std::string getSystemStatusString(const SystemStatus& status);
  static inline std::ostream& operator<<(std::ostream& os, const SystemStatus& status) {
    return os << getSystemStatusString(status);
  }

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_TYPES_H