Add measurement struct

1 files changed, 8 insertions, 0 deletions

diff --git a/src/types.h b/src/types.h
index 9608f74..b5f5fc3 100644
--- a/src/types.h
+++ b/src/types.h
@@ -9,6 +9,14 @@ using Eigen::Matrix;
 using Eigen::Matrix3d;
 using Eigen::Quaterniond;
 using Eigen::Vector3d;
+using Eigen::Vector4d;
+
+// A struct for storing measurements.
+typedef struct {
+    int id;
+    Vector3d source, reflection;
+} measurement_t;
+
 // A struct for storing PVA covariance.
 typedef struct {
     Matrix3d position,velocity,attitude;