Program Listing for File ekf.hpp

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/*
 * Copyright (c) 2014, 2015, 2016 Charles River Analytics, Inc.
 * Copyright (c) 2017, Locus Robotics, Inc.
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
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 * disclaimer in the documentation and/or other materials provided
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 * from this software without specific prior written permission.
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#ifndef ROBOT_LOCALIZATION__EKF_HPP_
#define ROBOT_LOCALIZATION__EKF_HPP_

#include "rclcpp/time.hpp"
#include "robot_localization/filter_base.hpp"
#include "robot_localization/measurement.hpp"

namespace robot_localization
{

class Ekf : public FilterBase
{
public:
  Ekf();

  ~Ekf();

  void correct(const Measurement & measurement) override;

  void predict(
    const rclcpp::Time & reference_time,
    const rclcpp::Duration & delta) override;
};

}  // namespace robot_localization

#endif  // ROBOT_LOCALIZATION__EKF_HPP_