Measurements.hpp

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#ifndef MEASUREMENTS_HPP
#define MEASUREMENTS_HPP
 
#include <array>
 
#include "core/clockwerkerrors.h"
 
namespace clockwerk {
 
    /**
     * The measurements class defines a generic, templated base class which
     * may be used generically as a measurement update in the EKF measurement
     * update class. The values N, M, and O should be assigned and are defined
     * as follows:
     * N - The number of states in the target state vector. i.e. 3 for [x, y, z]
     * M - The number of measurements produced by the function. i.e. 2 for [range, rangerate]
     * O - The number of observer states. May be unused but could be i.e. another [x, y, z] for range
     * 
     * This class should be inherited from and applied via implementation of the
     * calcMeasurements function.
     */
    template <typename T, unsigned int N, unsigned int M, unsigned int O>
    class Measurements {
    public:
        /// @brief   Function to calculate range and range rate from current state of system
        /// @param   time    The reference time
        /// @param   tar_state   The target reference state
        /// @param   obs_state   The observer reference state
        /// @param   out_measurements   Implicit return of measurements based on time, state
        virtual int calculateMeasurements(T time, const std::array<T, N> &tar_state, const std::array<T, O> &obs_state,
                                    std::array<T, M> &out_measurements) {return NO_ERROR;}
    private:
 
    };
 
}
 
#endif