forwardPredictor.h

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#pragma once
 
#include "symbolic_routines/mbs_sensor2.h"
 
#include <vector>
 
namespace armarx
{
 
    class ForwardPredictor
    {
    public:
 
        ForwardPredictor();
        ~ForwardPredictor();
 
        std::vector<float> getOptFlowPred();
        std::vector<float> getIMUPred();
 
    private:
 
        void calc();
        void predict_IMU();
        void predict_optFlow();
 
        MbsSensor sens_virt, sens_eye, sens_head_imu;
 
        // input
 
        // output
 
        // head IMU prediction
        //std::vector<float> orientationQuaternion;
        std::vector<float> gyroscopeRotation_pred; // head velocity in absolute frame (x,y,z) [rad/s]
 
        // optical flow prediction
        std::vector<float> optFlow_pred; // [x, y] in [deg/s]
 
    };
 
}