gps_updater.hpp

// Copyright 2024 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__GPS_UPDATER_HPP_
#define EKF__UPDATE__GPS_UPDATER_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "ekf/ekf.hpp"
#include "ekf/types.hpp"
#include "ekf/update/updater.hpp"
#include "infrastructure/data_logger.hpp"
 
class GpsUpdater : public Updater
{
public:
  GpsUpdater(
    unsigned int gps_id,
    bool is_extrinsic,
    const std::string & log_file_directory,
    double data_log_rate,
    std::shared_ptr<DebugLogger> logger
  );
 
  Eigen::MatrixXd GetMeasurementJacobian(EKF & ekf);
 
  Eigen::Vector3d PredictMeasurement(EKF & ekf);
 
  void UpdateEKF(
    EKF & ekf,
    const double time,
    const Eigen::Vector3d & gps_lla,
    const Eigen::MatrixXd & pos_covariance);
 
  void MultiUpdateEKF(EKF & ekf);
 
private:
  bool m_is_extrinsic {false};
  DataLogger m_data_logger;
  bool m_is_first_estimate{true};
  Eigen::Vector3d m_pos_a_in_b{0.0, 0.0, 0.0};
};
 
#endif  // EKF__UPDATE__GPS_UPDATER_HPP_