diff options
Diffstat (limited to 'src/main.h')
| -rw-r--r-- | src/main.h | 10 |
1 files changed, 8 insertions, 2 deletions
@@ -40,7 +40,6 @@ #define DOWNSAMPLE 1 /* */ #define HEIGHT_FROM_ATTITUDE /* use the attitude to measure the height */ #define MEASURE_HEIGHT - #if ROS_PUBLISH #include <ros/ros.h> #include <ros/geometry_msgs.h> @@ -55,11 +54,18 @@ double aboveWater(const Quaterniond &q); int parseLine(char *line, message *msg); timestamp update_dt(const timestamp t, timestamp *t_old); +#if STATESIZE==13 +void covCallback(const message &msg, State &mu); +void imgCallback(message &msg, State &mu, Camera &cam); +void imuCallback(const message &msg, State &mu, const timestamp dt); +void utmCallback(const message &msg, State &mu); +#else void covCallback(const message &msg, State &mu, const Quaterniond &q); void imgCallback(message &msg, State &mu, Camera &cam, const Quaterniond &q); void imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp dt); -void pvaCallback(const message &msg, Matrix<double,9,1> &X, Quaterniond &q); void utmCallback(const message &msg, State &mu, const Quaterniond &q); +#endif +void pvaCallback(const message &msg, Matrix<double,STATESIZE,1> &X, Quaterniond &q); #endif /* ----- #ifndef main_INC ----- */ |