EFFOAW.hh

 
#ifndef GRAMODS_MISC_EFFOAW
#define GRAMODS_MISC_EFFOAW
 
#include <gmMisc/config.hh>
 
#ifdef gramods_ENABLE_Eigen3
 
#include <deque>
#include <map>
#include <cstddef>
#include <limits>
#include <numeric>
#include <memory>
 
#include <math.h>
 
#include <Eigen/Eigen>
 
BEGIN_NAMESPACE_GMMISC
 
class EFFOAW {
 
public:
 
  EFFOAW();
 
  ~EFFOAW();
 
  void setHistoryLength(size_t N);
 
  size_t getHistoryLength() const;
 
  void setHistoryDuration(double t);
 
  double getHistoryDuration() const;
 
  double getLastSampleTime(size_t id, size_t N = 0);
 
  void addSample(size_t id, Eigen::Vector3d position, double time);
 
  void removeLastSample(size_t id);
 
  Eigen::Vector3d estimateVelocity(size_t id, double error, size_t *samples = nullptr) const;
 
  Eigen::Vector3d estimatePosition(size_t id, double error, double time, size_t *samples = nullptr) const;
 
  void cleanup(double time = -1);
 
private:
 
  struct Impl;
  std::unique_ptr<Impl> _impl;
 
};
 
END_NAMESPACE_GMMISC
 
#endif
#endif