.. _program_listing_file_measurements_surface_measurements.h:

Program Listing for File surface_measurements.h
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_measurements_surface_measurements.h>` (``measurements/surface_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"
   
   namespace lupnt {
   
     struct LcrnsSatConfig {
       std::string name = "SV";
       Vec3d r0_m = Vec3d::Zero();    
       Vec3d v0_mps = Vec3d::Zero();  
     };
   
     constexpr int kSurfaceNavErrorStateSize = 17;
   
     struct SurfaceImuMeasurement {
       double timestamp = 0.0;       
       Vec3d accel = Vec3d::Zero();  
       Vec3d gyro = Vec3d::Zero();   
     };
   
     struct SurfaceLansMeasurement : public ErrorStateMeasurement {
       struct Config {
         int i_dr = 0;    
         int i_dcb = 15;  
       };
   
       double timestamp = 0.0;       
       Vec3d r_sat = Vec3d::Zero();  
       double pseudorange_m = 0.0;   
       double sigma_m = 1.0;         
       double sise_m = 3.0;          
       Config config;                
   
       double PredictedRange(const Vec3d& r_rover, double clock_bias_s) const;
   
       Vec3d LosUnit(const Vec3d& r_rover) const;
   
       double NoiseVariance() const { return sigma_m * sigma_m + sise_m * sise_m; }
   
       MeasData Compute(const NavErrorContext& nom, MatXd* H = nullptr) const override;
     };
   
   }  // namespace lupnt