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/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* 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 PX4 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" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file att_estimator.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Roman Bapst <romanbapst@yahoo.de>
*/
#include "attitude_estimator.h"
#include <px4/vehicle_attitude.h>
#include <mathlib/mathlib.h>
#include <platforms/px4_defines.h>
AttitudeEstimator::AttitudeEstimator() :
_n(),
_sub_modelstates(_n.subscribe("gazebo/model_states", 10, &AttitudeEstimator::ModelStatesCallback, this)),
_vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 10))
{
}
void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr& msg)
{
px4::vehicle_attitude msg_v_att;
/* Fill px4 attitude topic with contents from modelstates topic */
/* Convert quaternion to rotation matrix */
math::Quaternion quat;
quat(0) = (float)msg->pose[0].orientation.w;
quat(1) = (float)msg->pose[0].orientation.x;
quat(2) = (float)msg->pose[0].orientation.y;
quat(3) = (float)msg->pose[0].orientation.z;
msg_v_att.q[0] = quat(0);
msg_v_att.q[1] = quat(1);
msg_v_att.q[2] = quat(2);
msg_v_att.q[3] = quat(3);
math::Matrix<3, 3> Rot = quat.to_dcm();
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
PX4_R(msg_v_att.R, i, j) = Rot(i, j);
}
}
msg_v_att.R_valid = true;
_vehicle_attitude_pub.publish(msg_v_att);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "attitude_estimator");
AttitudeEstimator m;
ros::spin();
return 0;
}
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