Measurements.hpp

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#ifndef GNCUTILS_EKF_MEASUREMENTS_HPP
#define GNCUTILS_EKF_MEASUREMENTS_HPP
 
#include <array>
 
#include "core/clockwerkerrors.h"
#include "types.h"
 
namespace warpos {

    template <uint32 N, uint32 M, uint32 O>
    class Measurements {
    public:
        virtual int16 calculateMeasurements(floating_point time, 
                                            const std::array<floating_point, N> &tar_state, 
                                            const std::array<floating_point, O> &obs_state,
                                            floating_point expected_measurement[M]) {
            return ERROR_NOT_OVERRIDDEN;
        }

        virtual int16 calculateMeasurementsMatrix(floating_point time,
                                                  const std::array<floating_point, N> &tar_state,
                                                  const std::array<floating_point, O> &obs_state,
                                                  floating_point measurement_Jacobian[M*N]) {
            return ERROR_NOT_OVERRIDDEN;
        }
    private:
 
    };
 
}
 
#endif