structQuad.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------




/* @{ */

#ifndef __STRUCT_QUAD_
#define __STRUCT_QUAD_

#include <SpacesArma.h>

// This file includes the structure used for the quadrotor stuff and, in particular, for the filtering algorithm

namespace MipBaselib{
 // IMU output: acceleration and angular velocity
 struct IMUOdometry{
  Acceleration3D linAcc;
  Velocity3D    angVel;
 };
 
 // Input for the filter with velocity input: linear and angular velocity
 struct VelOdometry{
  Velocity3D   linVel;
  Velocity3D    angVel;
 };
 
 // State of the filter excepted for the relative yaw angle
 struct filterState{
   Pose3D   pose;
   Velocity3D vel;
 };
};

#endif

/* @} */