px4_autopilot/test/sensor_simulator/ekf_wrapper.h

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/**
 * Wrapper class for Ekf object to set behavior or check status
 * @author Kamil Ritz <ka.ritz@hotmail.com>
 */
#pragma once

#include <memory>
#include "EKF/ekf.h"
#include "EKF/estimator_interface.h"

class EkfWrapper
{
public:
	EkfWrapper(std::shared_ptr<Ekf> ekf);
	~EkfWrapper();

	void enableGpsFusion();

	void disableGpsFusion();

	bool isIntendingGpsFusion() const;

	void enableFlowFusion();

	void disableFlowFusion();

	bool isIntendingFlowFusion() const;

	Vector3f getPosition() const;
	Vector3f getVelocity() const;
	Vector3f getAccelBias() const;
	Vector3f getGyroBias() const;
	Quatf getQuaternion() const;
	Eulerf getEulerAngles() const;
	matrix::Vector<float, 24> getState() const;
	matrix::Vector<float, 4> getQuaternionVariance() const;
	Vector3f getPositionVariance() const;
	Vector3f getVelocityVariance() const;

private:
	std::shared_ptr<Ekf> _ekf;

	// Pointer to Ekf internal param struct
	parameters* _ekf_params;

};