37 lines
1.0 KiB
C++
37 lines
1.0 KiB
C++
//
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// Created by darshan on 3/11/25.
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//
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#ifndef MEASUREMENTS_H
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#define MEASUREMENTS_H
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#include "Direction.h"
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#include <gtsam/base/Matrix.h>
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using namespace gtsam;
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/**
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* Measurement class
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* cal_idx is an index corresponding to the calibration related to the measurement
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* cal_idx = -1 indicates the measurement is from a calibrated sensor
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*/
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class Measurement {
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public:
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Direction y; // Measurement direction in sensor frame
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Direction d; // Known direction in global frame
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Matrix3 Sigma; // Covariance matrix of the measurement
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int cal_idx = -1; // Calibration index (-1 for calibrated sensor)
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/**
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* Initialize measurement
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* @param y_vec Direction measurement in sensor frame
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* @param d_vec Known direction in global frame
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* @param Sigma Measurement noise covariance
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* @param i Calibration index (-1 for calibrated sensor)
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*/
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Measurement(const Vector3& y_vec, const Vector3& d_vec,
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const Matrix3& Sigma, int i = -1);
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};
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#endif //MEASUREMENTS_H
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