Estimator3D.hpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, LABUST, UNIZG-FER
 *  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 documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the LABUST nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
#ifndef ESTIMATOR3D_HPP_
#define ESTIMATOR3D_HPP_
#include <labust/navigation/KFCore.hpp>
#include <labust/navigation/LDTravModel.hpp>
#include <labust/navigation/SensorHandlers.hpp>
#include <labust/math/NumberManipulation.hpp>
#include <navcon_msgs/ModelParamsUpdate.h>

#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <std_msgs/Float32.h>
#include <auv_msgs/BodyForceReq.h>

namespace labust
{
        namespace navigation
        {
                class Estimator3D
                {
                        enum{X=0,Y,Z,K,M,N, DoF};
                        typedef labust::navigation::KFCore<labust::navigation::LDTravModel> KFNav;
                public:
                        Estimator3D();

                        void onInit();
                        void start();

                private:
                        void configureNav(KFNav& nav, ros::NodeHandle& nh);
                        void onModelUpdate(const navcon_msgs::ModelParamsUpdate::ConstPtr& update);
                        void onTau(const auv_msgs::BodyForceReq::ConstPtr& tau);
                        void onDepth(const std_msgs::Float32::ConstPtr& data);
                        void onAltitude(const std_msgs::Float32::ConstPtr& data);
                        void processMeasurements();
                        void publishState();

                        KFNav nav;
                        KFNav::vector tauIn;
                        KFNav::vector measurements, newMeas;
                        labust::math::unwrap unwrap;
                        ros::Publisher stateMeas, stateHat, currentsHat;
                        ros::Subscriber tauAch, depth, altitude, modelUpdate;
                        GPSHandler gps;
                        ImuHandler imu;
                        DvlHandler dvl;
                        tf::TransformBroadcaster broadcaster;
                        double alt;
                        KFNav::ModelParams params[DoF];
                        bool useYawRate;
                        int dvl_model;
                };
        }
}
/* SENSORHANDLERS_HPP_ */
#endif