motionModel.h

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#ifndef _MOTIONMODEL_H_
#define _MOTIONMODEL_H_

#include <Eigen/Dense>
#include <mtt/nonholonomicEKFilter.h>

class MotionModel;

class MotionModel
{
        public:
                Vector5d _x;
                Vector5d _xp;
                Vector3d _z;
                Matrix5d _P;
                
                nonholonomicEKFilter _estimator;
                
                MotionModel();

                void initEstimator(Vector5d& x,Matrix5d& P);
                
                void initEstimator(Vector3d& z);

                void stepEstimator(Vector3d z);
};

#endif