IQ.Pilot Release Commit @ b6534c0

iqpilot/selfdrive/iqlocd/models/orbit_kf.h

@@ -0,0 +1,46 @@
+/*
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+*/
+#pragma once
+
+#include <memory>
+#include <optional>
+#include <unordered_map>
+#include <vector>
+
+#include <eigen3/Eigen/Dense>
+
+#include "iqpilot/selfdrive/iqlocd/models/orbit_kf_constants.h"
+#include "iqpilot/selfdrive/state_estimation/estimator.h"
+
+using MatrixXdr = iqpilot::state_estimation::Matrix;
+using Estimate = iqpilot::state_estimation::Estimate;
+
+class OrbitKalman {
+public:
+  OrbitKalman();
+  void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time);
+  void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time);
+  void init_state(const Eigen::VectorXd &state, double filter_time);
+  Eigen::VectorXd get_x();
+  MatrixXdr get_P();
+  double get_filter_time();
+  std::vector<MatrixXdr> get_R(int kind, int n);
+  std::optional<Estimate> predict_and_observe(double t, int kind, const std::vector<Eigen::VectorXd> &meas, std::vector<MatrixXdr> R = {});
+  void predict(double t);
+  const Eigen::VectorXd &get_initial_x();
+  const MatrixXdr &get_initial_P();
+  const MatrixXdr &get_fake_gps_pos_cov();
+  const MatrixXdr &get_fake_gps_vel_cov();
+  const MatrixXdr &get_reset_orientation_P();
+  MatrixXdr H(const Eigen::VectorXd &in);
+
+private:
+  std::shared_ptr<iqpilot::state_estimation::StateEstimator> filter;
+  Eigen::VectorXd initial_x;
+  MatrixXdr initial_P;
+  MatrixXdr fake_gps_pos_cov;
+  MatrixXdr fake_gps_vel_cov;
+  MatrixXdr reset_orientation_P;
+  std::unordered_map<int, MatrixXdr> obs_noise;
+};