GraftOdometryTopic.h

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
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 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/*
 * Author: Chad Rockey
 */
 
#ifndef GRAFT_INCLUDE_GRAFT_GRAFT_ODOMETRY_TOPIC_H
#define GRAFT_INCLUDE_GRAFT_GRAFT_ODOMETRY_TOPIC_H
 
#include <graft/GraftSensor.h>
#include <ros/ros.h>
#include <Eigen/Dense>
#include <nav_msgs/Odometry.h>
#include <tf/transform_datatypes.h>
#include <numeric>
 
using namespace Eigen;
 
class GraftOdometryTopic: public GraftSensor
{
public:
  GraftOdometryTopic();
 
  ~GraftOdometryTopic();
 
  void callback(const nav_msgs::Odometry::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 useAbsolutePose(bool absolute_pose);
 
  void useDeltaPose(bool delta_pose);
 
  void useVelocities(bool use_velocities);
 
  void setTimeout(double timeout);
 
  void setPoseCovariance(boost::array<double, 36>& cov);
 
  void setTwistCovariance(boost::array<double, 36>& cov);
 
private:
  nav_msgs::Odometry::ConstPtr getMsg();
 
  ros::Subscriber sub_;
  nav_msgs::Odometry::ConstPtr msg_;
  nav_msgs::Odometry::ConstPtr last_msg_; // Used for delta calculations
 
  std::string name_;
  bool absolute_pose_;
  bool delta_pose_;
  bool use_velocities_;
  ros::Duration timeout_;
 
  boost::array<double, 36> pose_covariance_;
  boost::array<double, 36> twist_covariance_;
};
 
#endif  // GRAFT_INCLUDE_GRAFT_GRAFT_ODOMETRY_TOPIC_H