.. _program_listing_file_measurements_lander_measurements.h:

Program Listing for File lander_measurements.h
==============================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <string>
   
   #include "lupnt/core/definitions.h"
   #include "lupnt/measurements/measurement.h"
   #include "lupnt/measurements/measurement_utils.h"
   #include "lupnt/measurements/surface_measurements.h"
   
   namespace lupnt {
   
     constexpr int kLanderNavErrorStateSize = 17;
   
     // The lander reuses the surface IMU and LANS/LunaNet pseudorange measurement models:
     //   - `SurfaceImuMeasurement` : body-frame accelerometer specific force + gyro angular rate.
     //   - `SurfaceLansMeasurement`: one-way LunaNet (LANS) pseudorange from a relay satellite.
     // (see `lupnt/measurements/surface_measurements.h`).
   
     struct LanderAltimeterMeasurement : public ErrorStateMeasurement {
       struct Config {
         int i_dr = 0;  
       };
   
       double timestamp = 0.0;   
       double altitude_m = 0.0;  
       double sigma_m = 2.0;     
   
       double predicted_altitude_m = 0.0;  
       Vec3d h_pos = Vec3d::Zero();        
       Config config;                      
   
       double NoiseVariance() const { return sigma_m * sigma_m; }
   
       MeasData Compute(const NavErrorContext& nom, MatXd* H = nullptr) const override;
     };
   
     struct LanderCraterMeasurement : public ErrorStateMeasurement {
       struct Config {
         int i_dr = 0;   
         int i_dth = 6;  
       };
   
       double timestamp = 0.0;          
       Vec3d r_crater = Vec3d::Zero();  
       Vec3d los_body = Vec3d::Zero();  
       double sigma_rad = 1.0e-3;       
       std::string id;                  
       Config config;                   
   
       Vec3d PredictedLosBody(const Vec3d& r, const Mat3d& R_b2n) const;
   
       MeasData Compute(const NavErrorContext& nom, MatXd* H = nullptr) const override;
     };
   
   }  // namespace lupnt