#ifndef body_INC #define body_INC #include #include using Eigen::Matrix; using Eigen::Vector3d; using Eigen::Quaternion; /* * ===================================================================================== * Class: Body * Description: State representation of body. * ===================================================================================== */ class Body { public: /* ==================== LIFECYCLE ======================================= */ Body (){}; /* constructor */ /* ==================== ACCESSORS ======================================= */ /* ==================== MUTATORS ======================================= */ /* ==================== OPERATORS ======================================= */ void motionModel ( Matrix &X, const Vector3d &acc, const Vector3d &ang, const Quaternion &q, const double dt); Matrix F(const Matrix &X, const Vector3d &ang, const Quaternion &q); void skewSymmetric(const Vector3d &x, Matrix &y); void H(Matrix &H); void h(const Matrix &X, Matrix &h); Matrix Q(double dt); protected: /* ==================== METHODS ======================================= */ /* ==================== DATA MEMBERS ======================================= */ private: /* ==================== METHODS ======================================= */ /* ==================== DATA MEMBERS ======================================= */ }; /* ----- end of class Body ----- */ #endif /* ----- #ifndef body_INC ----- */