Program Listing for File measurement.hpp

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/*
 * Copyright (c) 2014, 2015, 2016 Charles River Analytics, Inc.
 * Copyright (c) 2017, Locus Robotics, Inc.
 * Copyright (c) 2019, Steve Macenski
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * 2. 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.
 * 3. Neither the name of the copyright holder nor the names of its
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 * from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef ROBOT_LOCALIZATION__MEASUREMENT_HPP_
#define ROBOT_LOCALIZATION__MEASUREMENT_HPP_

#include <limits>
#include <memory>
#include <string>
#include <vector>

#include "Eigen/Dense"
#include "rclcpp/time.hpp"
#include "robot_localization/measurement.hpp"

namespace robot_localization
{

struct Measurement
{
  Measurement()
  : time_(0), mahalanobis_thresh_(std::numeric_limits<double>::max()),
    latest_control_time_(0), topic_name_(""), latest_control_()
  {
  }

  // The real-valued time, in seconds, since some epoch (presumably the start of
  // execution, but any will do)
  rclcpp::Time time_;

  // The Mahalanobis distance threshold in number of sigmas
  double mahalanobis_thresh_;

  // The time stamp of the most recent control term (needed for lagged data)
  rclcpp::Time latest_control_time_;

  // The topic name for this measurement. Needed for capturing previous state
  // values for new measurements.
  std::string topic_name_;

  // This defines which variables within this measurement actually get passed
  // into the filter. std::vector<bool> is generally frowned upon, so we use
  // ints.
  std::vector<bool> update_vector_;

  // The most recent control vector (needed for lagged data)
  Eigen::VectorXd latest_control_;

  // The measurement and its associated covariance
  Eigen::VectorXd measurement_;
  Eigen::MatrixXd covariance_;

  // We want earlier times to have greater priority
  bool operator()(
    const std::shared_ptr<Measurement> & a,
    const std::shared_ptr<Measurement> & b)
  {
    return (*this)(*(a.get()), *(b.get()));
  }

  bool operator()(const Measurement & a, const Measurement & b)
  {
    return a.time_ > b.time_;
  }
};
using MeasurementPtr = std::shared_ptr<Measurement>;

}  // namespace robot_localization

#endif  // ROBOT_LOCALIZATION__MEASUREMENT_HPP_