CpiV1.h

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#ifndef CPI_V1_H
#define CPI_V1_H

/*
 * MIT License
 * Copyright (c) 2018 Kevin Eckenhoff
 * Copyright (c) 2018 Patrick Geneva
 * Copyright (c) 2018 Guoquan Huang
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

#include "CpiBase.h"

#include <Eigen/Dense>

namespace ov_core {

class CpiV1 : public CpiBase {

public:
  CpiV1(double sigma_w, double sigma_wb, double sigma_a, double sigma_ab, bool imu_avg_ = false)
      : CpiBase(sigma_w, sigma_wb, sigma_a, sigma_ab, imu_avg_) {}

  virtual ~CpiV1() {}

  void feed_IMU(double t_0, double t_1, Eigen::Matrix<double, 3, 1> w_m_0, Eigen::Matrix<double, 3, 1> a_m_0,
                Eigen::Matrix<double, 3, 1> w_m_1 = Eigen::Matrix<double, 3, 1>::Zero(),
                Eigen::Matrix<double, 3, 1> a_m_1 = Eigen::Matrix<double, 3, 1>::Zero());
};

} // namespace ov_core

#endif /* CPI_V1_H */