GraftImuTopic.h

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. 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"
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/*
 * Author: Chad Rockey
 */
 
#ifndef GRAFT_INCLUDE_GRAFT_GRAFT_IMU_TOPIC_H
#define GRAFT_INCLUDE_GRAFT_GRAFT_IMU_TOPIC_H
 
#include <graft/GraftSensor.h>
#include <ros/ros.h>
#include <Eigen/Dense>
#include <sensor_msgs/Imu.h>
#include <tf/transform_datatypes.h>
#include <numeric>
 
using namespace Eigen;
 
class GraftImuTopic: public GraftSensor
{
public:
  GraftImuTopic();
 
  ~GraftImuTopic();
 
  void callback(const sensor_msgs::Imu::ConstPtr& msg);
 
  virtual graft::GraftSensorResidual::Ptr h(const graft::GraftState& state);
 
  virtual graft::GraftSensorResidual::Ptr z();
 
  virtual void setName(const std::string& name);
 
  virtual std::string getName();
 
  virtual void clearMessage();
 
  //virtual MatrixXd H(graft::GraftState& state);
 
  //virtual MatrixXd y(graft::GraftState& predicted);
 
  //virtual MatrixXd R();
 
  //void useAbsoluteOrientation(bool absolute_orientation);
 
  void useDeltaOrientation(bool delta_orientation);
 
  //void useVelocities(bool use_velocities);
 
  //void useAccelerations(bool use_accelerations);
 
  void setTimeout(double timeout);
 
  void setOrientationCovariance(boost::array<double, 9>& cov);
 
  void setAngularVelocityCovariance(boost::array<double, 9>& cov);
 
  void setLinearAccelerationCovariance(boost::array<double, 9>& cov);
 
private:
 
  sensor_msgs::Imu::ConstPtr getMsg();
 
  ros::Subscriber sub_;
  sensor_msgs::Imu::ConstPtr msg_;
  sensor_msgs::Imu::ConstPtr last_msg_;  // Used for delta calculations
 
  std::string name_;
  bool absolute_orientation_;
  bool delta_orientation_;
  bool use_velocities_;
  bool use_accelerations_;
  ros::Duration timeout_;
 
  boost::array<double, 9> orientation_covariance_;
  boost::array<double, 9> angular_velocity_covariance_;
  boost::array<double, 9> linear_acceleration_covariance_;
};
 
#endif  // GRAFT_INCLUDE_GRAFT_GRAFT_IMU_TOPIC_H