KFModelLoader.hpp

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#ifndef KFMODELLOADER_HPP_
#define KFMODELLOADER_HPP_
#include <labust/navigation/KFBase.hpp>
#include <labust/tools/MatrixLoader.hpp>
#include <ros/ros.h>

namespace labust
{
  namespace navigation
  {
        template <class ModelType>
        void kfModelLoader(ModelType& model, const ros::NodeHandle& nh, const std::string& group = "")
        {
                std::string ns(group);
                if (!ns.empty() && (ns.at(ns.length()-1) != '/')) ns+="/";

                labust::tools::getMatrixParam(nh, ns+"Q", model.Q);
                model.W = ModelType::matrix::Identity(model.Q.rows(), model.Q.cols());
                labust::tools::getMatrixParam(nh, ns+"R", model.R0);
                model.V0 = ModelType::matrix::Identity(model.R.rows(), model.R.cols());
                model.H0 = ModelType::matrix::Identity(model.R.rows(), model.Q.cols());

                //Optional parameters
                if (nh.hasParam(ns+"W"))        labust::tools::getMatrixParam(nh, ns+"W", model.W);
                if (nh.hasParam(ns+"V"))        labust::tools::getMatrixParam(nh, ns+"V", model.V0);
                if (nh.hasParam(ns+"H"))        labust::tools::getMatrixParam(nh, ns+"H", model.H0);
                if (nh.hasParam(ns+"P"))
                {
                        typename ModelType::matrix P;
                        labust::tools::getMatrixParam(nh, ns+"P", P);
                        model.setStateCovariance(P);
                }
                if (nh.hasParam(ns+"x0"))
                {
                        typename ModelType::vector x0;
                        labust::tools::getMatrixParam(nh, ns+"x0", x0);
                        model.setState(x0);
                }

                //Set changeable
                model.R = model.R0;
                model.V = model.V0;
                model.H = model.H0;

                nh.param("sampling_time",model.Ts,0.1);
        }
  };
}
/* KFMODELLOADER_HPP_ */
#endif