motion_model.h

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#ifndef _MOTION_MODEL_H_
#define _MOTION_MODEL_H_

#include <kfilter/ekfilter.hpp>
#include <string.h>
#include <math.h>

enum scan_matching_method {MBICP,PSM,PLICP};

class constant_velocity_nh: public Kalman::EKFilter<double,1,false,false,true>
{
        public:
                constant_velocity_nh(double _l,double _dt,scan_matching_method _method);
                
                double l;
                double dt;

                void updateDt(double _dt);
                        
        protected:
                
                void makeA();
                
                void makeH();
                
                void makeW();
        
                void makeV();

                void makeR();

                void makeQ();

                void makeProcess();
                
                void makeMeasure();
                
                scan_matching_method method;
};

typedef constant_velocity_nh::Vector Vector;
typedef constant_velocity_nh::Matrix Matrix;

#endif