00001 //================================================================================================= 00002 // Copyright (c) 2013, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_POSE_ESTIMATION_FILTER_SET_FILTER_H 00030 #define HECTOR_POSE_ESTIMATION_FILTER_SET_FILTER_H 00031 00032 #include <hector_pose_estimation/system.h> 00033 #include <hector_pose_estimation/measurement.h> 00034 00035 #include <hector_pose_estimation/filter/ekf.h> 00036 00037 #include <ros/console.h> 00038 00039 namespace hector_pose_estimation { 00040 00041 template <class ConcreteModel> 00042 void System_<ConcreteModel>::setFilter(Filter *filter) { 00043 System::setFilter(filter); 00044 if (filter->derived<filter::EKF>()) { 00045 predictor_ = Filter::factory(filter->derived<filter::EKF>()).addPredictor<ConcreteModel>(this->getModel()); 00046 } else { 00047 ROS_ERROR_NAMED(getName(), "Unknown filter type: %s", filter->getType().c_str()); 00048 } 00049 } 00050 00051 template <class ConcreteModel> 00052 void Measurement_<ConcreteModel>::setFilter(Filter *filter) { 00053 Measurement::setFilter(filter); 00054 if (filter->derived<filter::EKF>()) { 00055 corrector_ = Filter::factory(filter->derived<filter::EKF>()).addCorrector<ConcreteModel>(this->getModel()); 00056 } else { 00057 ROS_ERROR_NAMED(getName(), "Unknown filter type: %s", filter->getType().c_str()); 00058 } 00059 } 00060 00061 } 00062 00063 #endif // HECTOR_POSE_ESTIMATION_FILTER_SET_FILTER_H