29 #ifndef HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H 30 #define HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H 40 class GenericQuaternionSystemModel;
54 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
104 #endif // HECTOR_POSE_ESTIMATION_GENERIC_QUATERNION_SYSTEM_MODEL_H
virtual void getDerivative(StateVector &x_dot, const State &state)
virtual void getSystemNoise(NoiseVariance &Q, const State &state, bool init=true)
virtual void getPrior(State &state)
RateInput::Ptr rate_input_
EIGEN_MAKE_ALIGNED_OPERATOR_NEW GenericQuaternionSystemModel()
AliasT< double > gravity_
virtual SystemStatus getStatusFlags(const State &state)
virtual bool init(PoseEstimation &estimator, System &system, State &state)
bool prepareUpdate(State &state, double dt)
double acceleration_stddev_
boost::shared_ptr< Accelerometer > accelerometer_
double angular_acceleration_stddev_
unsigned int SystemStatus
virtual ~GenericQuaternionSystemModel()
TorqueInput::Ptr torque_input_
ColumnVector3 acceleration_nav_
virtual void getStateJacobian(SystemMatrix &A, const State &state, bool init=true)
ForceInput::Ptr force_input_
boost::shared_ptr< ImuInput > imu_
ColumnVector_< 3 >::type ColumnVector3
boost::shared_ptr< Gyro > gyro_