EKF_3D_USBL.hpp

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/*********************************************************************
 * EKF_3D_USBL.cpp
 *
 *  Created on: Mar 26, 2013
 *      Author: Dula Nad
 *      
 *  Modified on: Mar 3, 2015
 *       Author: Filip Mandic
 *
 ********************************************************************/
/*********************************************************************
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#ifndef EKF_3D_USBL_HPP_
#define EKF_3D_USBL_HPP_
#include <labust/navigation/KFCore.hpp>
#include <labust/navigation/EKF_3D_USBLModel.hpp>
#include <labust/navigation/SensorHandlers.hpp>
#include <labust/math/NumberManipulation.hpp>
#include <navcon_msgs/ModelParamsUpdate.h>
#include <labust/tools/OutlierRejection.hpp>


#include <tf2_ros/transform_broadcaster.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Bool.h>
#include <auv_msgs/BodyForceReq.h>
#include <underwater_msgs/USBLFix.h>

#include <auv_msgs/NED.h>
#include <std_msgs/Bool.h>

#include <stack>
#include <deque>


namespace labust
{
        namespace navigation
        {
                class Estimator3D
                {
                        enum{X=0,Y,Z,K,M,N, DoF};
                        typedef labust::navigation::KFCore<labust::navigation::EKF_3D_USBLModel> KFNav;
                public:
                        Estimator3D();

                        void onInit();
                        void start();

                        struct FilterState{

                                FilterState(){

                                }

                                ~FilterState(){

                                }

                                KFNav::vector input;
                                KFNav::vector meas;
                                KFNav::vector newMeas;
                                KFNav::vector state;
                                KFNav::matrix Pcov;
                                KFNav::matrix Rcov;

                        };

                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 onUSBLfix(const underwater_msgs::USBLFix::ConstPtr& data);
                        void processMeasurements();
                        void publishState();
                        void onReset(const std_msgs::Bool::ConstPtr& reset);
                        void onUseGyro(const std_msgs::Bool::ConstPtr& use_gyro);
                        int calculateDelaySteps(double measTime, double arrivalTime);
                        KFNav nav;
                        KFNav::vector tauIn;
                        KFNav::vector measurements, newMeas, measDelay;
                        labust::math::unwrap unwrap;
                        ros::Publisher stateMeas, stateHat, currentsHat, buoyancyHat, pubRange, pubRangeFiltered, pubwk;
                        ros::Subscriber tauAch, depth, altitude, modelUpdate, resetTopic, useGyro, sub, subKFmode, subUSBL;
                        GPSHandler gps;
                        ImuHandler imu;
                        DvlHandler dvl;
                        tf2_ros::TransformBroadcaster broadcaster;
                        double alt;
                        KFNav::ModelParams params[DoF];
                        bool useYawRate;
                        int dvl_model;
                        double compassVariance, gyroVariance;

                        double currentTime;
                        double delayTime;
                        double delay_time;
                        bool enableDelay, enableRange, enableBearing, enableElevation;

                        void deltaPosCallback(const auv_msgs::NED::ConstPtr& msg);

                        void KFmodeCallback(const std_msgs::Bool::ConstPtr& msg);

                        bool quadMeasAvailable, KFmode, KFmodePast, absoluteEKF;

                        float deltaXpos, deltaYpos;

                        KFNav::matrix Pstart, Rstart;

                        std::deque<FilterState> pastStates;

                        labust::tools::OutlierRejection OR;

                };
        }
}
/* EKF3D_HPP_ */
#endif