From 2c0ce68acd031b67fdffaea3b2e50cca4f487633 Mon Sep 17 00:00:00 2001 From: Martin Miller Date: Tue, 4 Apr 2017 16:10:26 -0500 Subject: Full state mostly implemented. STATESIZE 9 works just as it does for experiment04032017 tag. The quaternion covariance is not being set correctly yet. --- src/main.h | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) (limited to 'src/main.h') diff --git a/src/main.h b/src/main.h index 6e11875..0cbe4d0 100644 --- a/src/main.h +++ b/src/main.h @@ -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 #include @@ -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 &X, Quaterniond &q); void utmCallback(const message &msg, State &mu, const Quaterniond &q); +#endif +void pvaCallback(const message &msg, Matrix &X, Quaterniond &q); #endif /* ----- #ifndef main_INC ----- */ -- cgit v1.1