fiducial_updater.hpp

// Copyright 2023 Jacob Hartzer
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef EKF__UPDATE__FIDUCIAL_UPDATER_HPP_
#define EKF__UPDATE__FIDUCIAL_UPDATER_HPP_
 
#include <eigen3/Eigen/Eigen>
 
#include <memory>
#include <string>
#include <vector>
 
#include "ekf/types.hpp"
#include "ekf/update/updater.hpp"
#include "infrastructure/data_logger.hpp"
 
class FiducialUpdater : public Updater
{
public:
  explicit FiducialUpdater(
    unsigned int fiducial_id,
    unsigned int camera_id,
    bool is_fid_extrinsic,
    bool is_cam_extrinsic,
    const std::string & log_file_directory,
    double data_log_rate,
    std::shared_ptr<DebugLogger> logger
  );
 
  void RefreshStates(EKF & ekf);
 
  Eigen::MatrixXd GetMeasurementJacobian(EKF & ekf);
 
  Eigen::VectorXd PredictMeasurement(EKF & ekf);
 
  void UpdateEKF(
    EKF & ekf,
    const double time,
    const BoardDetection & board_detection);
 
private:
  bool m_is_fid_extrinsic;
  bool m_is_cam_extrinsic;
  DataLogger m_fiducial_logger;
  unsigned int m_camera_id;
  bool m_is_first_estimate{true};
  Eigen::Vector3d m_pos_f_in_l;
  Eigen::Quaterniond m_ang_f_to_l;
  Eigen::Vector3d m_pos_c_in_b;
  Eigen::Quaterniond m_ang_c_to_b;
};
 
#endif  // EKF__UPDATE__FIDUCIAL_UPDATER_HPP_