72 lines
2.4 KiB
C++
72 lines
2.4 KiB
C++
/*
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* Copyright (c) 2017 Simon Gene Gottlieb
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* 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
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software 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 HOLDER 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;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED 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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#include "robot_localization/ros_filter_types.h"
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#include <nodelet/nodelet.h>
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#include <pluginlib/class_list_macros.h>
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#include <ros/ros.h>
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#include <memory>
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#include <vector>
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namespace RobotLocalization
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{
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class UkfNodelet : public nodelet::Nodelet
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{
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private:
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std::unique_ptr<RosUkf> ukf;
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public:
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virtual void onInit()
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{
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NODELET_DEBUG("Initializing nodelet...");
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ros::NodeHandle nh = getNodeHandle();
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ros::NodeHandle nh_priv = getPrivateNodeHandle();
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std::vector<double> args(3, 0);
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nh_priv.param("alpha", args[0], 0.001);
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nh_priv.param("kappa", args[1], 0.0);
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nh_priv.param("beta", args[2], 2.0);
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ukf = std::make_unique<RosUkf>(nh, nh_priv, getName(), args);
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ukf->initialize();
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}
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};
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} // namespace RobotLocalization
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PLUGINLIB_EXPORT_CLASS(RobotLocalization::UkfNodelet, nodelet::Nodelet);
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