mlm.h

Go to the documentation of this file.

#ifndef MLM_HEADER
#define MLM_HEADER
 
#include <GeographicLib/LocalCartesian.hpp>
 
#include "gps_acc_fusion_filter.h"
#include "sensor_data.h"
 
class MLM
{
 private:
  gps_acc_fusion_filter m_fk;  
  GeographicLib::LocalCartesian m_lc;  
  bool
      m_got_start_point;  
  double m_acc_sigma_2;   
  double m_loc_sigma_2;   
  double m_vel_sigma_2;   
 
 public:
  MLM(void);
 
  MLM(double acc_sigma_2, double loc_sigma_2, double vel_sigma_2);
 
  ~MLM(void);
 
  bool process_acc_data(const enu_accelerometer &acc, double time_sec);
 
  void process_gps_data(const gps_coordinate &gps, double time_sec);
 
  gps_coordinate predicted_coordinate() const;
};
 
#endif