29 #ifndef HECTOR_POSE_ESTIMATION_MAGNETIC_H 30 #define HECTOR_POSE_ESTIMATION_MAGNETIC_H 39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
81 Magnetic(
const std::string& name =
"height");
84 virtual void onReset();
102 #endif // HECTOR_POSE_ESTIMATION_MAGNETIC_H
virtual void getMeasurementNoise(NoiseVariance &R, const State &, bool init)
virtual void getExpectedValue(MeasurementVector &y_pred, const State &state)
virtual SystemStatus getStatusFlags()
TFSIMD_FORCE_INLINE const tfScalar & y() const
bool hasMagnitude() const
void update(const std::string &key, const XmlRpc::XmlRpcValue &v)
double getMagneticHeading(const State &state, const MeasurementVector &y) const
virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state)
GlobalReferencePtr reference_
virtual void getStateJacobian(MeasurementMatrix &C, const State &state, bool init)
virtual bool prepareUpdate(State &state, const MeasurementUpdate &update)
Model::MeasurementVector MeasurementVector
Model::NoiseVariance NoiseVariance
ColumnVector_< Dynamic >::type ColumnVector
unsigned int SystemStatus
void updateMagneticField()
MeasurementVector magnetic_field_north_
EIGEN_MAKE_ALIGNED_OPERATOR_NEW MagneticModel()
void setReference(const GlobalReference::Heading &reference_heading)
MeasurementVector magnetic_field_reference_
double getTrueHeading(const State &state, const MeasurementVector &y) const