imu-multiplicative-attitude-reconstruction.hpp

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#ifndef IMUMULTUPLICATIVEATTITUDETRAJECTORYRECONTRUCTIONHPP
#define IMUMULTUPLICATIVEATTITUDETRAJECTORYRECONTRUCTIONHPP
 
#include <state-observation/api.h>
#include <state-observation/dynamical-system/dynamical-system-simulator.hpp>
#include <state-observation/dynamical-system/imu-mltpctive-dynamical-system.hpp>
#include <state-observation/observer/extended-kalman-filter.hpp>
#include <state-observation/tools/miscellaneous-algorithms.hpp>
 
namespace stateObservation
{
namespace examples
{
 
IndexedVectorArray imuMultiplicativeAttitudeReconstruction(const IndexedVectorArray & y,
                                                           const IndexedVectorArray & u,
                                                           const Vector & xh0,
                                                           const Matrix & p,
                                                           const Matrix & q,
                                                           const Matrix & r,
                                                           double dt);
 
IndexedVectorArray imuMultiplicativeAttitudeReconstruction(const IndexedVectorArray & y,
                                                           const Vector & xh0,
                                                           const Matrix & p,
                                                           const Matrix & q,
                                                           const Matrix & r,
                                                           double dt);
 
#include <state-observation/examples/imu-multiplicative-attitude-reconstruction.hxx>
 
} // namespace examples
 
} // namespace stateObservation
 
#endif // IMUMULTUPLICATIVEATTITUDETRAJECTORYRECONTRUCTIONHPP