Program Listing for File NavStateFilter.h
↰ Return to documentation for file (include/mola_kernel/interfaces/NavStateFilter.h
)
/* -------------------------------------------------------------------------
* A Modular Optimization framework for Localization and mApping (MOLA)
* Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
* See LICENSE for license information.
* ------------------------------------------------------------------------- */
#pragma once
#include <mrpt/containers/yaml.h>
#include <mrpt/core/Clock.h>
#include <mrpt/math/TTwist3D.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/poses/CPose3DPDFGaussianInf.h>
#include <mrpt/system/COutputLogger.h>
#pragma once
namespace mola
{
struct NavState
{
NavState() = default;
~NavState() = default;
mrpt::poses::CPose3DPDFGaussianInf pose;
mrpt::math::TTwist3D twist;
mrpt::math::CMatrixDouble66 twist_inv_cov;
std::string asString() const;
};
class NavStateFilter : public mrpt::system::COutputLogger
{
public:
NavStateFilter();
~NavStateFilter();
virtual void reset() = 0;
virtual void initialize(const mrpt::containers::yaml& cfg) = 0;
virtual void fuse_pose(
const mrpt::Clock::time_point& timestamp,
const mrpt::poses::CPose3DPDFGaussian& pose,
const std::string& frame_id) = 0;
virtual void fuse_odometry(
const mrpt::obs::CObservationOdometry& odom,
const std::string& odomName = "odom_wheels") = 0;
virtual void fuse_imu(const mrpt::obs::CObservationIMU& imu) = 0;
virtual void fuse_twist(
const mrpt::Clock::time_point& timestamp,
const mrpt::math::TTwist3D& twist,
const mrpt::math::CMatrixDouble66& twistCov) = 0;
virtual std::optional<NavState> estimated_navstate(
const mrpt::Clock::time_point& timestamp,
const std::string& frame_id) = 0;
};
} // namespace mola