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#ifndef body_INC
#define body_INC
#include <Eigen/Dense>
#include <iostream>
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<double,9,1> &X, const Vector3d &acc, const Vector3d &ang, const Quaternion<double> &q, const double dt);
void skewSymmetric(const Vector3d &x, Matrix<double,3,3> &y);
protected:
/* ==================== METHODS ======================================= */
/* ==================== DATA MEMBERS ======================================= */
private:
/* ==================== METHODS ======================================= */
/* ==================== DATA MEMBERS ======================================= */
}; /* ----- end of class Body ----- */
#endif /* ----- #ifndef body_INC ----- */
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