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authorMartin Miller2017-03-17 19:54:53 -0500
committerMartin Miller2017-03-17 19:54:53 -0500
commit1c57366f2e13821b350ce27733736a3c174cff9c (patch)
tree57a8c97202da907192ad861ebd52c16335c2cbc4 /src/main.h
parent457aa893b7628c89b0daf5901139055250a9db0d (diff)
downloadrefslam-1c57366f2e13821b350ce27733736a3c174cff9c.zip
refslam-1c57366f2e13821b350ce27733736a3c174cff9c.tar.gz
Write initial "callback" functions for no ROS.
Diffstat (limited to 'src/main.h')
-rw-r--r--src/main.h8
1 files changed, 6 insertions, 2 deletions
diff --git a/src/main.h b/src/main.h
index 805e5a9..e3dd911 100644
--- a/src/main.h
+++ b/src/main.h
@@ -8,8 +8,9 @@
#include <cstring>
#endif /* ----- USE_ROS ----- */
-#include <iostream>
+#include <cmath>
#include <Eigen/Dense>
+#include <iostream>
#define MAXLINE 8192
#define MAXFILENAME 1024
@@ -73,7 +74,10 @@ int parseLine(char *line, message *msg);
#ifdef USE_ROS
void imuCallback();
#else /* ----- not USE_ROS ----- */
-void imuCallback(const message *msg);
+void imgCallback(const message *msg);
+void imuCallback(const message &msg, Eigen::Matrix<double,9,1> &X, Eigen::Quaternion<double> &q);
+void pvaCallback(const message &msg, Eigen::Matrix<double,9,1> &X, Eigen::Quaternion<double> &q);
+void utmCallback(const message &msg, Eigen::Matrix<double,9,1> &X);
#endif /* ----- not USE_ROS ----- */
#endif /* ----- #ifndef main_INC ----- */