//
// Created by hshine on 23-10-10.
//

#ifndef RM2023_POWER_RUNE_RUNE_TRACKER_H
#define RM2023_POWER_RUNE_RUNE_TRACKER_H

#include "ExtendedKalmanFilter.h"

namespace rm_power_rune {

    class rune_tracker {
    private:
        ExtendedKalmanFilter rune_ekf_;

        Eigen::VectorXd observe_;
        double dt_;
    public:
        Eigen::VectorXd state_;
        rune_tracker(double a0,double w0,double phi0,double r0);
        void track(double r,double v,double dt);
        double get_velocity();
    };

} // rm_rune

#endif //RM2023_POWER_RUNE_RUNE_TRACKER_H