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#ifndef state_INC
#define state_INC
#include <algorithm>
#include <Eigen/Dense>
#include <list>
#include <vector>
#include "body.h"
#include "camera.h"
#include "feature.h"
#include "types.h"
#include "vision.h"
#define MAXFEATURES 40
#define MINFEATURES 30
#define COVBIAS 2e-5
//#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once
#define DORANSAC /* */
//#define INLIERTEST /* */
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;
using std::vector;
/*
* =====================================================================================
* Class: State
* Description:
* =====================================================================================
*/
class State
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/* ==================== LIFECYCLE ======================================= */
State (); /* constructor */
/* ==================== ACCESSORS ======================================= */
Matrix<double,Dynamic,1> asVector();
bool exists(int id);
int rowById(int id);
int iById(int id);
Feature *featureById(int id);
#if STATESIZE==13
MatrixXd F(const Vector3d &w, double dt);
MatrixXd H ( const vector<measurement_t> &z );
MatrixXd blockSI( const vector<measurement_t> &z );
Quaterniond qhat();
void featuresAsMeasurements(vector<measurement_t> &yk, const Camera &cam);
#else
MatrixXd F(const Quaterniond &q, const Vector3d &w, double dt);
MatrixXd H ( const Quaterniond &q, const vector<measurement_t> &z );
MatrixXd blockSI( const vector<measurement_t> &z, const Quaterniond &q);
void featuresAsMeasurements(vector<measurement_t> &yk, const Camera &cam,
const Quaterniond &q);
#endif
int Hrows( const vector<measurement_t> &z );
MatrixXd Q(double dt);
MatrixXd R( const vector<measurement_t> &z );
Matrix<double,STATESIZE,STATESIZE> Pxx();
Matrix<double,STATESIZE,3> Pxy(int id);
Matrix<double,3,3> Pyy(int id);
Matrix<double,Dynamic,6> L();
/* ==================== MUTATORS ======================================= */
void accelerometer_bias(const Vector3d &b);
void asVector(const Matrix<double,Dynamic,1> &m);
void pos(const UTM &utm);
#if STATESIZE==13
void doMeasurements( vector<measurement_t> &z, Vision &viz, Camera &cam);
void handle_measurements( const vector<measurement_t> & z);
void kalmanUpdate( const MatrixXd &h, const MatrixXd &S,
const vector<measurement_t> &z);
void motionModel(const Vector3d &acc, const Vector3d &ang, const double dt);
MatrixXd partialUpdate( const MatrixXd &h, const MatrixXd &S,
const vector<measurement_t> &z);
void Pkk1 ( const Vector3d &ang, const double dt);
void ransacUpdate(vector<measurement_t> &z);
void quaternion_covariance(const Matrix<double,4,4> &covq);
void qhat(const Quaterniond &q);
#else
void doMeasurements( vector<measurement_t> &z, Vision &viz,
const Quaterniond &q, Camera &cam);
void handle_measurements( const vector<measurement_t> & z, const Quaterniond &q);
void kalmanUpdate( const MatrixXd &h, const MatrixXd &S,
const vector<measurement_t> &z, const Quaterniond &q);
void motionModel(const Vector3d &acc, const Vector3d &ang,
const Quaterniond &q, const double dt);
MatrixXd partialUpdate( const MatrixXd &h, const MatrixXd &S,
const vector<measurement_t> &z, const Quaterniond &q );
void Pkk1 ( const Vector3d &ang, const Quaterniond &q, const double dt);
void ransacUpdate(vector<measurement_t> &z, const Quaterniond &q);
#endif
void initializePi(int i, const Matrix<double,3,3> &Pi);
void position_covariance(const Matrix<double,3,3> &p);
std::list<Feature *>::iterator removeFeature(std::list<Feature *>::iterator &i, bool bl);
std::list<Feature *>::iterator removeFeature ( int id, bool bl );
void velocity_covariance(const Matrix<double,3,3> &p);
void vel(const Matrix<double,3,1> &v);
/* ==================== OPERATORS ======================================= */
#if STATESIZE==13
Matrix<double,Dynamic,1> innovation( const vector<measurement_t> &z);
#else
Matrix<double,Dynamic,1> innovation( const vector<measurement_t> &z, const Quaterniond &q);
#endif
void unicsv(const double time);
protected:
/* ==================== METHODS ======================================= */
/* ==================== DATA MEMBERS ======================================= */
private:
/* ==================== METHODS ======================================= */
#if STATESIZE==13
void addFeatures(vector<measurement_t> &F, double z);
#else
void addFeatures(vector<measurement_t> &F, const Quaterniond &q, double z);
#endif
void expandP ( const Matrix3d &Pi);
void shrinkP( int i );
/* ==================== DATA MEMBERS ======================================= */
Body *body;
//Matrix<double, Dynamic, Dynamic, 0, 9+3*MAXFEATURES, 9+3*MAXFEATURES> P;
Matrix<double, Dynamic, Dynamic> P;
char utm_c;
int utm_i;
std::list<Feature *> features;
vector<int> blacklist;
}; /* ----- end of class State ----- */
#endif /* ----- #ifndef state_INC ----- */
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