imu_measurement_model_base.h

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/*
 * Copyright (c) 2019, the mcl_3dl authors
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#ifndef MCL_3DL_IMU_MEASUREMENT_MODEL_BASE_H
#define MCL_3DL_IMU_MEASUREMENT_MODEL_BASE_H

#include <memory>

#include <mcl_3dl/state_6dof.h>

namespace mcl_3dl
{
class ImuMeasurementModelBase
{
public:
  using Ptr = std::shared_ptr<ImuMeasurementModelBase>;

  virtual void setAccMeasure(const Vec3& acc_measure) = 0;
  virtual float measure(const State6DOF& s) const = 0;
};
}  // namespace mcl_3dl

#endif  // MCL_3DL_IMU_MEASUREMENT_MODEL_BASE_H