particle_model.hpp

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#pragma once
 
#include <Eigen/Dense>
#include <Eigen/Sparse>
 
#include "common_lib/structures/velocities.hpp"
#include "motion_lib/vel_process_model/base_vel_process_model.hpp"
 
class CAParticleModel : public BaseVelocityProcessModel {
public:
  CAParticleModel() = default;
 
  Eigen::Vector3d get_next_velocities(const Eigen::Vector3d& previous_velocities,
                                      const Eigen::Vector3d& imu_data,
                                      const double time_interval) override;
 
  Eigen::Matrix3d get_jacobian_velocities(const Eigen::Vector3d& previous_velocities,
                                          [[maybe_unused]] const Eigen::Vector3d& imu_data,
                                          const double time_interval) override;
 
  Eigen::Matrix3d get_jacobian_sensor_data(
      [[maybe_unused]] const Eigen::Vector3d& previous_velocities,
      [[maybe_unused]] const Eigen::Vector3d& accelerations, const double time_interval) override;
};