34 template class Measurement_<HeadingModel>;
52 y_pred(0) = state.
getYaw();
63 error(0) = remainder(error(0), 2 * M_PI);
virtual const boost::shared_ptr< OrientationStateType > & orientation() const
virtual void getExpectedValue(MeasurementVector &y_pred, const State &state)
virtual void getMeasurementNoise(NoiseVariance &R, const State &, bool init)
ParameterList & add(const std::string &key, T &value, const T &default_value)
ParameterList & parameters()
virtual void getStateJacobian(MeasurementMatrix &C, const State &state, bool init)
virtual void limitError(MeasurementVector &error)
virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state)