repredictor_aloamgarm.h

#ifndef REPREDICTOR_ALOAMGARM_H
#define REPREDICTOR_ALOAMGARM_H
 
#include <Eigen/Dense>
#include <boost/circular_buffer.hpp>
#include <std_msgs/Time.h>
#include <functional>
#include <ros/ros.h>
#include <mrs_lib/utils.h>
#include <mrs_lib/repredictor.h>
 
namespace mrs_lib
{
template <class Model>
class RepredictorAloamgarm : public Repredictor<Model> {
public:
  /* states, inputs etc. definitions (typedefs, constants etc) //{ */
 
  using x_t        = typename Model::x_t;             
  using u_t        = typename Model::u_t;             
  using z_t        = typename Model::z_t;             
  using P_t        = typename Model::P_t;             
  using R_t        = typename Model::R_t;             
  using Q_t        = typename Model::Q_t;             
  using statecov_t = typename Model::statecov_t;      
  using ModelPtr   = typename std::shared_ptr<Model>; 
  using history_t  = typename Repredictor<Model>::history_t;
 
  //}
 
public:
  /* constructor //{ */
 
  RepredictorAloamgarm(const x_t& x0, const P_t& P0, const u_t& u0, const Q_t& Q0, const ros::Time& t0, const ModelPtr& model, const unsigned hist_len,
                       const std::shared_ptr<boost::circular_buffer<double>>& nis_buffer) {
    Repredictor<Model>::m_sc            = {x0, P0, nis_buffer};
    Repredictor<Model>::m_default_model = model;
    Repredictor<Model>::m_history       = history_t(hist_len);
    assert(hist_len > 0);
    Repredictor<Model>::addInputChangeWithNoise(u0, Q0, t0, model);
  };
  //}
};
}  // namespace mrs_lib
 
 
#endif  // REPREDICTOR_ALOAMGARM_H