KalmanDataTypes.hpp

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#include <telekyb_msgs/TKState.h>
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/TransformStamped.h>
#include <Eigen/Core>

#ifndef KALMANDATATYPES_HPP_
#define KALMANDATATYPES_HPP_

// Buffers
struct StateBufferElement
{
        double timeStamp;
        //Eigen::Matrix<double,10,1> state;
        telekyb_msgs::TKState state;
        Eigen::Matrix<double,9,9> covariance;
};

struct MeasureBufferElement
{
                double timeStamp;
        geometry_msgs::TransformStamped measure;
        //int   sensorID;
        //Eigen::Matrix<double,6,9> covariance;
};

struct InputBufferElement
{
        double timeStamp;
        //Eigen::Matrix<double,6,1> input;
        sensor_msgs::Imu input;
};

#endif /* KALMANDATATYPES_HPP_ */