From 816411abf8e9ff633a29449cc0ac445c11f73a1c Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 20:32:08 -0500
Subject: Major rewrite moves state variables into state.

Rather than maintain X and P in the main function they are moved into
the body and state classes, respectively. This will become much more
important when features are added and the accounting becomes more
complicated.
---
 src/main.h | 78 ++++----------------------------------------------------------
 1 file changed, 4 insertions(+), 74 deletions(-)

(limited to 'src/main.h')

diff --git a/src/main.h b/src/main.h
index 36802fd..2fef291 100644
--- a/src/main.h
+++ b/src/main.h
@@ -1,99 +1,29 @@
 #ifndef  main_INC
 #define  main_INC
 
-//#define USE_ROS            /* Uncomment to use with ROS */
-
-#ifndef  USE_ROS
+#include <cmath>
 #include <cstdio>
 #include <cstring>
-#endif     /* -----  USE_ROS  ----- */
-
-#include <cmath>
 #include <Eigen/Dense>
 #include <iostream>
 
 #include "body.h"
 #include "state.h"
+#include "types.h"
 
-#define MAXLINE 8192
-#define MAXFILENAME 1024
 
 using Eigen::Matrix;
 using Eigen::Matrix3d;
 using Eigen::Quaternion;
 using Eigen::Vector3d;
-// A struct for storing PVA covariance.
-typedef struct {
-    Matrix3d position,velocity,attitude;
-} covariance_t;
-
-// A struct for storing x,y,z data.
-typedef struct {
-    double x,y,z;
-} tuple;
-
-// A struct for storing velocity in world frame
-typedef struct {
-    double east, north, up;
-} velocity_t;
-
-// A struct for storing attitude data.
-typedef struct {
-    double roll,pitch,yaw;
-} attitude_t;
-
-// A struct for storing UTM data.
-typedef struct {
-    double northing,easting,up;
-    int zone_i;
-    char zone_c;
-} UTM;
-
-// A struct for storing GPS data.
-typedef struct {
-    double latitude, longitude, altitude;
-} gps;
-
-// Message types
-typedef enum {BESTUTM,IMG,INSCOVS,INSPVAS,RAWIMUS} message_type;
-
-/*
- * The message struct is a general container for all message types. Not all
- * members are used for all messages, so care must be taken not to use garbage
- * values. 
- */
-typedef struct {
-    int secs,nsecs;
-} timestamp;
-
-typedef struct {
-    // These should always be set.
-    timestamp stamp;
-    message_type msg_type;
-
-    // Only the members needed by the msg_type are stored.
-    tuple angular_velocity;
-    attitude_t attitude;
-    char image_names[2][MAXFILENAME];
-    tuple linear_acceleration;
-    gps position;
-    UTM utm;
-    velocity_t velocity;
-    covariance_t covariance;
-} message;
 
 int parseLine(char *line, message *msg);
 timestamp update_dt(const timestamp t, timestamp *t_old);
 
-#ifdef  USE_ROS
-void imuCallback();
-#else      /* -----  not USE_ROS  ----- */
 void covCallback(const message &msg, Matrix<double,9,9> &P, const Quaternion<double> &q);
 void imgCallback(const message *msg);
-void imuCallback(const message &msg, Matrix<double,9,1> &X, Matrix<double,9,9> &P,
-        const Quaternion<double> &q, const timestamp dt);
+void imuCallback(const message &msg, State &mu, const Quaternion<double> &q, const timestamp dt);
 void pvaCallback(const message &msg, Matrix<double,9,1> &X, Quaternion<double> &q);
-void utmCallback(const message &msg, Matrix<double,9,1> &X, Matrix<double,9,9> &P);
-#endif     /* -----  not USE_ROS  ----- */
+void utmCallback(const message &msg, State &mu);
 
 #endif   /* ----- #ifndef main_INC  ----- */
-- 
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