constant_acceleration_turnrate_model.hpp

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#pragma once
 
#include <Eigen/Dense>
 
#include "motion_lib/v2p_models/base_v2p_motion_model.hpp"
 
class ConstantAccelerationTurnrateModel : public V2PMotionModel {
public:
  Eigen::Vector3d get_pose_difference(const Eigen::Vector3d &previous_pose,
                                      const Eigen::VectorXd &motion_data,
                                      const double delta_t) override;
 
  Eigen::Matrix3d get_jacobian_pose(const Eigen::Vector3d &previous_pose,
                                    const Eigen::VectorXd &motion_data,
                                    const double delta_t) override;
 
  Eigen::MatrixXd get_jacobian_motion_data(const Eigen::Vector3d &previous_pose,
                                           const Eigen::VectorXd &motion_data,
                                           const double delta_t) override;
};