imu_measurement_model_gravity.h

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/*
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#ifndef MCL_3DL_IMU_MEASUREMENT_MODELS_IMU_MEASUREMENT_MODEL_GRAVITY_H
#define MCL_3DL_IMU_MEASUREMENT_MODELS_IMU_MEASUREMENT_MODEL_GRAVITY_H

#include <memory>

#include <mcl_3dl/imu_measurement_model_base.h>
#include <mcl_3dl/nd.h>

namespace mcl_3dl
{
class ImuMeasurementModelGravity : public ImuMeasurementModelBase
{
public:
  explicit ImuMeasurementModelGravity(const float acc_var)
    : nd_(acc_var)
  {
  }

  inline void setAccMeasure(const Vec3& acc_measure) final
  {
    acc_measure_ = acc_measure;
    acc_measure_norm_ = acc_measure.norm();
  }

  inline float measure(const State6DOF& s) const final
  {
    const Vec3 acc_estim = s.rot_.inv() * Vec3(0.0, 0.0, 1.0);
    const float diff = acosf(
        acc_estim.dot(acc_measure_) / (acc_measure_norm_ * acc_estim.norm()));
    return nd_(diff);
  }

private:
  NormalLikelihood<float> nd_;
  Vec3 acc_measure_;
  float acc_measure_norm_;
};

}  // namespace mcl_3dl

#endif  // MCL_3DL_IMU_MEASUREMENT_MODELS_IMU_MEASUREMENT_MODEL_GRAVITY_H