KalmanStateEstimator.hpp

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/*
 * KalmanStateEstimator.hpp
 *
 *  Created on: Jun 19, 2012
 *      Author: rspica
 */

#ifndef KALMANSTATEESTIMATOR_HPP_
#define KALMANSTATEESTIMATOR_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_base/Options.hpp>

#include <tk_state/StateEstimator.hpp>
#include <EigenTools.hpp>
// plugin stuff
#include <pluginlib/class_list_macros.h>

// ROS
#include <sensor_msgs/Imu.h>
#include <telekyb_msgs/TKState.h>
#include <geometry_msgs/TransformStamped.h>
#include <telekyb_base/Time.hpp>

#include <stdint.h>
#include <deque>

#include <StateEstimators/ViconHandler.hpp>

// Boost
#include <boost/thread/mutex.hpp>

using namespace TELEKYB_NAMESPACE;

namespace telekyb_state {

class KalmanStateEstimatorOptions : public OptionContainer {
public:
        Option<std::string>* imuTopic;
        Option<std::string>* viconTopic;
        Option<std::string>* stateTopic;

        Option<Eigen::Matrix<double,6,6> >* imuCov;
        Option<Eigen::Matrix<double,6,6> >* vicCov;
        Option<Eigen::Matrix<double,9,9> >* discCov;

        Option<Eigen::Matrix<double,9,9> >* initStateCov;


        Option<Eigen::Vector3d>* imuAccBias;
        Option<Eigen::Vector3d>* imuGyrBias;

        Option<Eigen::Vector3d>* vicPosition;
        Option<Eigen::Quaterniond>* vicOrientation;

        Option<double>* predStep;
        Option<double>* minStep;
        Option<double>* saveStep;
        Option<double>* lTpred;

        Option<int>* maxStateBufferSize;
        Option<int>* maxMeasureBufferSize;
        Option<int>* maxInputBufferSize;

        KalmanStateEstimatorOptions();
};

class KalmanStateEstimator : public TELEKYB_NAMESPACE::StateEstimator {
public:

        virtual void initialize();
        virtual void willBecomeActive();
        virtual void willBecomeInActive();
        virtual void destroy();

        virtual std::string getName() const;

        void imuCallback(const sensor_msgs::Imu::ConstPtr& msg);
        void viconCallback(const geometry_msgs::TransformStamped::ConstPtr& msg);

protected:
        KalmanStateEstimatorOptions options;

        ros::NodeHandle nodeHandle;
        ros::Subscriber imuSub;
        ros::Publisher statePub;

        std::deque<StateBufferElement> stateBuffer;
        std::deque<MeasureBufferElement>  measureBuffer;
        std::deque<InputBufferElement> inputBuffer;

        std::deque<MeasureBufferElement>::const_iterator nextMeasureIndex;
        std::deque<InputBufferElement>::const_iterator currentInputIndex;

        StateBufferElement internalState;
        bool isInitialized;
        bool isInitializedLinVel;
        bool isInitializedPose;
        bool isInitializedAngVel;

        bool newMeasureReceived;
        bool newInputReceived;
        MeasureBufferElement newMeasure;
        InputBufferElement newInput;

        // Mutexes
        boost::mutex newMeasureMutex;
        boost::mutex newInputMutex;


        //Core functions
        void core();
        void prediction(StateBufferElement& state, const InputBufferElement& u, double Tpred);
        //void update(StateBufferElement& state, const MeasureBufferElement& z);
        ViconHandler viconHandler;
        void publishEstimate(const StateBufferElement & estimate);

        // Timers
        Time intTime;
        double predTime;
        Timer saveTimer;

        // Eigen tools;
        EigenTools tools;

        template <typename _BufferElement>
        typename std::deque<_BufferElement>::iterator searchInBuffer(std::deque<_BufferElement>& buffer, double time);

};


template <typename _BufferElement>
typename std::deque<_BufferElement>::iterator KalmanStateEstimator::searchInBuffer(std::deque<_BufferElement>& buffer, double time) {
        typename std::deque<_BufferElement>::iterator current;
        for(current = buffer.begin(); current <= buffer.end(); current++)
        {
                if (time >= current->timeStamp) break;
        }
        return current;
}

} /* namespace telekyb_state */
#endif /* KALMANSTATEESTIMATOR_HPP_ */