1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
|
#ifndef main_INC
#define main_INC
#include <cmath>
#include <cstdio>
#include <cstring>
#include <Eigen/Dense>
#include <iostream>
#include "body.h"
#include "state.h"
#include "types.h"
using Eigen::Matrix;
using Eigen::Matrix3d;
using Eigen::Quaterniond;
using Eigen::Vector3d;
int parseLine(char *line, message *msg);
timestamp update_dt(const timestamp t, timestamp *t_old);
void covCallback(const message &msg, Matrix<double,9,9> &P, const Quaterniond &q);
void imgCallback(const message *msg);
void imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp dt);
void pvaCallback(const message &msg, Matrix<double,9,1> &X, Quaterniond &q);
void utmCallback(const message &msg, State &mu);
#endif /* ----- #ifndef main_INC ----- */
|
