eigen_test.cpp

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/*
 * eigen_test.cpp
 *
 *  Created on: Oct 16, 2013
 *      Author: dnad
 */
#include <labust/navigation/KinematicModel.hpp>
#include <labust/navigation/KFCore.hpp>
#include <labust/navigation/KFModelLoader.hpp>

#include <ros/ros.h>

int main(int argc, char* argv[])
{
        ros::init(argc, argv, "eigen_test");
        ros::NodeHandle nh;
        using namespace labust::navigation;
        KFCore<KinematicModel> nav;

        kfModelLoader(nav,nh);

        ros::Rate rate(10);

        while (ros::ok())
        {
                nav.predict();
                KinematicModel::vector meas = KinematicModel::vector::Zero(KinematicModel::inputSize);
                nav.correct(meas);
                rate.sleep();
        }

        return 0;
}