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108 lines
3.5 KiB
108 lines
3.5 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2019 ECL Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* Wrapper class for Ekf object to set behavior or check status |
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* @author Kamil Ritz <ka.ritz@hotmail.com> |
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*/ |
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#pragma once |
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#include <memory> |
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#include "EKF/ekf.h" |
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#include "EKF/estimator_interface.h" |
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class EkfWrapper |
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{ |
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public: |
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EkfWrapper(std::shared_ptr<Ekf> ekf); |
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~EkfWrapper(); |
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void setBaroHeight(); |
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bool isIntendingBaroHeightFusion() const; |
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void setGpsHeight(); |
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bool isIntendingGpsHeightFusion() const; |
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void setRangeHeight(); |
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bool isIntendingRangeHeightFusion() const; |
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void setVisionHeight(); |
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bool isIntendingVisionHeightFusion() const; |
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void enableGpsFusion(); |
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void disableGpsFusion(); |
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bool isIntendingGpsFusion() const; |
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void enableFlowFusion(); |
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void disableFlowFusion(); |
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bool isIntendingFlowFusion() const; |
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void enableExternalVisionPositionFusion(); |
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void disableExternalVisionPositionFusion(); |
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bool isIntendingExternalVisionPositionFusion() const; |
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void enableExternalVisionVelocityFusion(); |
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void disableExternalVisionVelocityFusion(); |
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bool isIntendingExternalVisionVelocityFusion() const; |
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void enableExternalVisionHeadingFusion(); |
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void disableExternalVisionHeadingFusion(); |
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bool isIntendingExternalVisionHeadingFusion() const; |
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void enableExternalVisionAlignment(); |
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void disableExternalVisionAlignment(); |
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bool isWindVelocityEstimated() const; |
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Vector3f getPosition() const; |
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Vector3f getVelocity() const; |
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Vector3f getAccelBias() const; |
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Vector3f getGyroBias() const; |
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Quatf getQuaternion() const; |
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Eulerf getEulerAngles() const; |
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matrix::Vector<float, 24> getState() const; |
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matrix::Vector<float, 4> getQuaternionVariance() const; |
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Vector3f getPositionVariance() const; |
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Vector3f getVelocityVariance() const; |
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Vector2f getWindVelocity() const; |
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Quatf getVisionAlignmentQuaternion() const; |
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private: |
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std::shared_ptr<Ekf> _ekf; |
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// Pointer to Ekf internal param struct |
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parameters* _ekf_params; |
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};
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