[Kalman Filter] add Kalman Filter lbirary that is implemented with a …

…single header file

jsk_kalman_filter/CMakeLists.txt

@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(jsk_kalman_filter)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  cmake_modules
+  dynamic_reconfigure
+  roscpp
+  pluginlib
+)
+
+find_package(Eigen3 REQUIRED)
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g")
+
+generate_dynamic_reconfigure_options(
+  cfg/KalmanFilter.cfg
+  )
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS roscpp pluginlib
+)
+
+include_directories(
+  include
+  ${Boost_INCLUDE_DIR}
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+
+## pluginlib_tutorials library
+add_library(kf_pos_vel_acc_pluginlib src/kf_pos_vel_acc_plugin.cpp)
+target_link_libraries(kf_pos_vel_acc_pluginlib ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
+add_dependencies(kf_pos_vel_acc_pluginlib ${PROJECT_NAME}_gencfg)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(TARGETS kf_pos_vel_acc_pluginlib
+  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+
+install(DIRECTORY plugins
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)

jsk_kalman_filter/cfg/KalmanFilter.cfg

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+#!/usr/bin/env python
+PACKAGE = "kalman_filter"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+KALMAN_FILTER_FLAG = 0
+INPUT_ID = 1
+INPUT_SIGMA = 2
+MEASURE_ID = 3
+MEASURE_SIGMA = 4
+
+gen = ParameterGenerator()
+
+gen.add("kalman_filter_flag", bool_t, KALMAN_FILTER_FLAG, "Kalman Filter Flag", False)
+gen.add("input_id", int_t, INPUT_ID, "Input ID", 0, 0, 10)
+gen.add("input_sigma", double_t, INPUT_SIGMA, "Input Sigma", 0.04, 0, 1)
+gen.add("measure_id", int_t, MEASURE_ID, "Measure ID", 0, 0, 10)
+gen.add("measure_sigma", double_t, MEASURE_SIGMA, "Measure Sigma", 0.04, 0, 1)
+
+exit(gen.generate(PACKAGE, "kalman_filter", "KalmanFilter"))
+
+