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37 lines
1.0 KiB
37 lines
1.0 KiB
#pragma once
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#include <eigen3/Eigen/Dense>
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#include "cereal/gen/cpp/log.capnp.h"
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#define DEGREES_TO_RADIANS 0.017453292519943295
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class Localizer
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{
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Eigen::Matrix2d A;
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Eigen::Matrix2d I;
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Eigen::Matrix2d Q;
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Eigen::Matrix<double, 1, 2> C_posenet;
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Eigen::Matrix<double, 1, 2> C_gyro;
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double R_gyro;
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void update_state(const Eigen::Matrix<double, 1, 2> &C, const double R, double current_time, double meas);
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void handle_sensor_events(capnp::List<cereal::SensorEventData>::Reader sensor_events, double current_time);
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void handle_camera_odometry(cereal::CameraOdometry::Reader camera_odometry, double current_time);
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void handle_controls_state(cereal::ControlsState::Reader controls_state, double current_time);
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public:
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Eigen::Vector2d x;
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Eigen::Matrix2d P;
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double steering_angle = 0;
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double car_speed = 0;
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double posenet_speed = 0;
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double prev_update_time = -1;
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double controls_state_time = -1;
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double sensor_data_time = -1;
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double camera_odometry_time = -1;
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Localizer();
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void handle_log(cereal::Event::Reader event);
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};
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