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#ifndef main_INC
#define main_INC
//#define USE_ROS /* Uncomment to use with ROS */
#ifndef USE_ROS
#include <cstdio>
#include <cstring>
#endif /* ----- USE_ROS ----- */
#include <cmath>
#include <Eigen/Dense>
#include <iostream>
#include "body.h"
#include "state.h"
#define MAXLINE 8192
#define MAXFILENAME 1024
// A struct for storing PVA covariance.
typedef struct {
Eigen::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, Eigen::Matrix<double,9,9> &P,
const Eigen::Quaternion<double> &q);
void imgCallback(const message *msg);
void imuCallback(const message &msg, Eigen::Matrix<double,9,1> &X,
Eigen::Matrix<double,9,9> &P, const Eigen::Quaternion<double> &q,
const timestamp dt);
void pvaCallback(const message &msg, Eigen::Matrix<double,9,1> &X,
Eigen::Quaternion<double> &q);
void utmCallback(const message &msg, Eigen::Matrix<double,9,1> &X);
#endif /* ----- not USE_ROS ----- */
#endif /* ----- #ifndef main_INC ----- */
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