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#ifndef feature_INC
#define feature_INC
#include <Eigen/Dense>
#include <iostream>
#include "types.h"
#define FEATURE_NOISE 1e-3 /* Feature process noise */
#define VIEW_NOISE 1e-3 /* */
#define INITIAL_VIEW_NOISE 1e-3 /* */
#define REFLECTION_VIEW_NOISE 1e-2 /* */
#define FEATURECOVX 5e-5 /* */
#define FEATURECOVY 5e-5 /* */
#define FEATURECOVRHO 5e-3 /* */
#define FEATURECOVRHO_MONO 0.5 /* */
#define RHO_0 1./10. /* */
using Eigen::Dynamic;
using Eigen::Matrix;
using Eigen::MatrixXd;
using Eigen::Quaterniond;
using Eigen::Vector2d;
using Eigen::Vector3d;
using std::cout;
using std::cerr;
using std::endl;
/*
* =====================================================================================
* Class: Feature
* Description:
* =====================================================================================
*/
class Feature
{
public:
/* ==================== LIFECYCLE ======================================= */
Feature ( int id, const Vector3d &xs, const Vector3d &xr,
const Vector3d &xbw, const Quaterniond &q, double z);
Feature ( int id, const Vector3d &xs, const Vector3d &xbw,
const Quaterniond &q);
/* ==================== ACCESSORS ======================================= */
int id();
Matrix<double,3,3> P0(measurement_type t);
UTM utm(Vector3d &xbw, Quaterniond &q);
/* ==================== MUTATORS ======================================= */
void motionModel ( const Vector3d &ang, const Vector3d &vel, const double dt);
void dx( const Vector3d &del);
/* ==================== OPERATORS ======================================= */
bool sane();
bool inFOV();
Vector3d findDepth( const Quaterniond &q, double z, const Vector3d &xs,
const Vector3d &xr);
Matrix<double,3,9> Fx( double dt );
Matrix<double,3,3> Fy( const Vector3d &vel, const Vector3d &ang, double dt);
Matrix<double,6,9> Hx( const Vector3d &pos, const Quaterniond &q);
Matrix<double,6,3> Hy( const Vector3d &pos, const Quaterniond &q);
Matrix<double,6,1> h( const Vector3d &x, const Quaterniond &q);
Matrix<double,3,6> L();
Matrix<double,6,1> measurement_vector(const Vector3d &xs, const Vector3d &xr);
Matrix<double,4,1> measurement_vector( const Vector3d &xs );
Matrix<double,3,3> Q(const double dt);
Matrix<double,6,6> R();
Matrix<double,6,6> S ( const Matrix<double,9,9> &Pxx,
const Matrix<double,9,3> &Pxy, const Matrix<double,3,3> &Pyy,
const Vector3d &pos, const Quaterniond &q);
Vector3d p2x(const Vector3d &p);
Vector3d x2p(const Vector3d &x);
protected:
/* ==================== METHODS ======================================= */
/* ==================== DATA MEMBERS ======================================= */
private:
/* ==================== METHODS ======================================= */
/* ==================== DATA MEMBERS ======================================= */
int _id;
Vector3d X;
Vector3d X0;
Quaterniond q0;
Vector3d xb0w;
}; /* ----- end of class Feature ----- */
#endif /* ----- #ifndef feature_INC ----- */
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