symmetry.hpp

// Copyright (C) 2023 Alessandro Fornasier.
// Control of Networked Systems, University of Klagenfurt, Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the BSD-2-Clause-License with
// no commercial use allowed, the full terms of which are made available
// in the LICENSE file. No license in patents is granted.
//
// You can contact the authors at <alessandro.fornasier@ieee.org>
 
#ifndef SYMMETRY_HPP
#define SYMMETRY_HPP
 
#include "msceqf/state/state.hpp"
#include "sensors/sensor_data.hpp"
#include "msceqf/state/state.hpp"
#include "utils/tools.hpp"
 
namespace msceqf
{
class Symmetry
{
 public:
  [[nodiscard]] static const SystemState phi(const MSCEqFState& X, const SystemState& xi);
 
  [[nodiscard]] static const SystemState::SystemStateAlgebraMap lift(const SystemState& xi, const Imu& u);
 
  [[nodiscard]] static const MatrixX curvatureCorrection(const MSCEqFState& X, const VectorX& inn);
 
  static const Matrix5 D;  
 
 private:
  Symmetry() = default;
};
 
}  // namespace msceqf
 
#endif  // SYMMETRY_HPP