Program Listing for File filter-common.h¶
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/*
* Based on:
*
* Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef LOCALIZATION_FUSION_FILTER_COMMON_H_
#define LOCALIZATION_FUSION_FILTER_COMMON_H_
#include <cmath>
#include <glog/logging.h>
namespace maplab {
namespace localization_fusion {
enum StateMembers {
StateMemberX = 0,
StateMemberY,
StateMemberZ,
StateMemberRoll,
StateMemberPitch,
StateMemberYaw
};
const int STATE_SIZE = 6;
const int POSITION_OFFSET = StateMemberX;
const int ORIENTATION_OFFSET = StateMemberRoll;
const int POSITION_SIZE = 3;
const int ORIENTATION_SIZE = 3;
const int POSE_SIZE = 6;
const double TAU = 2.0 * M_PI;
} // namespace localization_fusion
} // namespace maplab
#endif // LOCALIZATION_FUSION_FILTER_COMMON_H_