.. _program_listing_file_measurements_crosslink_measurement.h:

Program Listing for File crosslink_measurement.h
================================================

|exhale_lsh| :ref:`Return to documentation for file <file_measurements_crosslink_measurement.h>` (``measurements/crosslink_measurement.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <utility>
   #include <vector>
   
   #include "lupnt/core/definitions.h"
   #include "lupnt/measurements/measurement.h"
   #include "lupnt/measurements/measurement_utils.h"
   
   namespace lupnt {
   
     class IslCrosslinkMeasurement : public MeasurementClone<IslCrosslinkMeasurement> {
     public:
       struct Config {
         int sub_state_size = 8;   
         int n_links = 0;          
         int idx_position = 0;     
         int idx_velocity = 3;     
         int idx_clock_bias = 6;   
         int idx_clock_drift = 7;  
   
         std::vector<Vec3d> anchor_pos_mci;
         std::vector<Vec3d> anchor_vel_mci;
   
         double sigma_range_m = 1.0;            
         double sigma_range_rate_mps = 1.0e-3;  
         double sigma_pseudorange_m = 200.0;    
   
         bool include_anchor_doppler = false;
         double sigma_anchor_doppler_mps = 1.0e-3;  
   
         bool include_time_transfer = false;
         double sigma_time_transfer_m = 1.0;  
   
         bool include_frequency_transfer = false;
         double sigma_frequency_transfer_mps = 1.0e-3;  
       };
   
       IslCrosslinkMeasurement() = default;
       explicit IslCrosslinkMeasurement(Config config) : config_(std::move(config)) {}
   
       const Config& GetConfig() const { return config_; }
       void SetConfig(const Config& config) { config_ = config; }
   
       MeasData Compute(const State& x, MatXd* H = nullptr) const override;
   
     private:
       Config config_;
   
       int NumRows() const;
       VecX Model(const VecX& x) const;
       MatXd Covariance() const;
     };
   
   }  // namespace lupnt