updater.hpp

// Copyright 2023 Jacob Hartzer
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef EKF__UPDATE__UPDATER_HPP_
#define EKF__UPDATE__UPDATER_HPP_
 
#include <memory>
 
#include "ekf/ekf.hpp"
#include "infrastructure/debug_logger.hpp"
 
class Updater
{
public:
  explicit Updater(unsigned int sensor_id, std::shared_ptr<DebugLogger> logger);
 
  // Updater(EKF & ekf, unsigned int sensor_id);
 
  void KalmanUpdate(
    EKF & ekf,
    const Eigen::MatrixXd & jacobian,
    const Eigen::VectorXd & residual,
    const Eigen::MatrixXd & measurement_noise);
 
protected:
  unsigned int m_id;                      
  std::shared_ptr<DebugLogger> m_logger;  
};
 
#endif  // EKF__UPDATE__UPDATER_HPP_