From f098647e69c1fe3a3a20599405962e7e1f3c7c0f Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 22:31:28 -0500
Subject: Add Feature class

---
 src/feature.h | 59 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 59 insertions(+)
 create mode 100644 src/feature.h

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
new file mode 100644
index 0000000..d6c43d0
--- /dev/null
+++ b/src/feature.h
@@ -0,0 +1,59 @@
+#ifndef  feature_INC
+#define  feature_INC
+#include <Eigen/Dense>
+#include "types.h"
+
+using Eigen::Vector3d;
+using Eigen::Matrix;
+using Eigen::Quaterniond;
+
+/*
+ * =====================================================================================
+ *        Class:  Feature
+ *  Description:  
+ * =====================================================================================
+ */
+class Feature
+{
+    public:
+        /* ====================  LIFECYCLE     ======================================= */
+        Feature ();                             /* constructor */
+
+        /* ====================  ACCESSORS     ======================================= */
+
+        /* ====================  MUTATORS      ======================================= */
+
+        /* ====================  OPERATORS     ======================================= */
+        Matrix<double,3,9> Fx();
+        Matrix<double,3,3> Fy( const Vector3d &vel, const Vector3d &ang);
+        Matrix<double,6,9> Hx( const Vector3d &pos, const Quaterniond &q);
+        Matrix<double,6,3> Hy( const Vector3d &pos, const Quaterniond &q);
+        /*
+        Matrix<double,6>     Hy
+        Matrix<double,6,1> h();
+        void motionModel ( const Vector3d &acc, const Vector3d &ang, 
+                const Quaterniond &q, const double dt);
+        Matrix<double,9,9> Q(double dt);
+        Matrix<double,1,1> R();
+        Matrix<double,1,1> S(const Matrix<double,9,9> &P);
+        void skewSymmetric(const Vector3d &x, Matrix<double,3,3> &y);
+        void unicsv();
+        */
+
+    protected:
+        /* ====================  METHODS       ======================================= */
+
+        /* ====================  DATA MEMBERS  ======================================= */
+
+    private:
+        /* ====================  METHODS       ======================================= */
+
+        /* ====================  DATA MEMBERS  ======================================= */
+        Vector3d X;
+        Quaterniond q0;
+        Vector3d xb0w;
+
+}; /* -----  end of class Feature  ----- */
+
+
+#endif   /* ----- #ifndef feature_INC  ----- */
-- 
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