StateInitializer.h

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/* Copyright (c) 2022 Skyward Experimental Rocketry
 * Authors: Marco Cella, Alberto Nidasio
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <diagnostic/PrintLogger.h>
#include <utils/AeroUtils/AeroUtils.h>
#include <utils/SkyQuaternion/SkyQuaternion.h>
 
#include <Eigen/Dense>
 
#include "NAS.h"
 
namespace Boardcore
{
 
class StateInitializer
{
public:
    StateInitializer();
 
    void eCompass(const Eigen::Vector3f& acc, const Eigen::Vector3f& mag);
 
    void triad(const Eigen::Vector3f& acc, const Eigen::Vector3f& mag,
               const Eigen::Vector3f& nedMag);
 
    Eigen::Matrix<float, 13, 1> getInitX();
 
private:
    Eigen::Matrix<float, 13, 1> x_init;
 
    PrintLogger log = Logging::getLogger("stateinitializer");
};
}  // namespace Boardcore