no_slip_bicycle_model.hpp

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#pragma once
 
#include "ve_base_observation_model.hpp"
 
class NoSlipBicycleModel : public VEObservationModel {
public:
  NoSlipBicycleModel(const common_lib::car_parameters::CarParameters& car_parameters)
      : VEObservationModel(car_parameters) {}
 
  Eigen::VectorXd expected_observations(const Eigen::VectorXd& state) const override;
 
  Eigen::MatrixXd expected_observations_jacobian(const Eigen::VectorXd& state) const override;
};