sins-basic-progarms

#endif
/*
 By     : Yan Gongmin @ NWPU
 Date   : 2017-04-29
 From   : College of Automation, 
          Northwestern Polytechnical University, 
    Xi'an 710072, China
*/

#ifndef _KFAPP_H
#define _KFAPP_H

#include "PSINS.h"

#define GPSVN 0
#define GPSPOS 3
#define ZUPT 6
#define CARMC 9  // Car Moving Constraint
#define GPSYAW 12

class CCarAHRS:public CTDKF
{
public:
 BOOL levelAlignOK, yawAlignOK, initPosOK;
 double measGPSYaw;
 CVect3 measGPSVn, measGPSPos, measINSvn, measCMvb, measMag;
 CAligni0 align;
 CSINS sins;

 CCarAHRS(double ts);
 void SetMeasGPSVn(CVect3& vnGPS);
 void SetMeasGPSPos(CVect3& posGPS);
 void SetMeasGPSYaw(double gpsYaw);
 void SetMeasZUPT(void);
 void SetMeasMC(void);
 void SetMeasMag(CVect3 &mag);
 virtual void MeasRearrange(CSINS &sins);
 int Update(CVect3 &wm, CVect3 &vm, double ts);
};

#endif