text: /*! @file OrientationEstimator.h
   *  @brief All Orientation Estimation Algorithms
   *
   *  This file will contain all orientation algorithms.
   *  Orientation estimators should compute:
   *  - orientation: a quaternion representing orientation
   *  - rBody: coordinate transformation matrix (satisfies vBody = Rbody * vWorld)
   *  - omegaBody: angular velocity in body frame
   *  - omegaWorld: angular velocity in world frame
   *  - rpy: roll pitch yaw
   */
  #ifndef PROJECT_ORIENTATIONESTIMATOR_H
  #define PROJECT_ORIENTATIONESTIMATOR_H
  
  #include "Controllers/StateEstimatorContainer.h"
  
  template <typename T>
  class CheaterOrientationEstimator : public GenericEstimator<T> {
   public:
    virtual void run();
    virtual void setup() {}
  };
  
  template <typename T>
  class VectorNavOrientationEstimator : public GenericEstimator<T> {
   public:
    virtual void run();
    virtual void setup() {}
  };
  
  
  #endif  // PROJECT_ORIENTATIONESTIMATOR_H
  