zero_velocity_updater.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 ZERO_VELOCITY_UPDATER_HPP
#define ZERO_VELOCITY_UPDATER_HPP
 
#include "msceqf/filter/checker/checker.hpp"
#include "msceqf/state/state.hpp"
 
namespace msceqf
{
class ZeroVelocityUpdater
{
 public:
  ZeroVelocityUpdater(const ZeroVelocityUpdaterOptions& opts, const Checker& checker);
 
  void setMotion();
 
  void setMeasurement(const SE23& y);
 
  [[nodiscard]] bool isActive(const Tracks& tracks);
 
  [[nodiscard]] bool zvUpdate(MSCEqFState& X, const SystemState& xi0) const;
 
 private:
  ZeroVelocityUpdaterOptions opts_;  
 
  const Checker& checker_;  // The MSCEqF checker
 
  SE23 y_;  
 
  bool motion_;  
};
 
}  // namespace msceqf
 
#endif  // ZERO_VELOCITY_UPDATER_HPP