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
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 * 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_