text: #pragma once
  
  #include "CommonStructs.hpp"
  
  namespace simple_flight {
  
  class IStateEstimator {
  public:
      virtual Axis3r getAngles() const = 0;
      virtual Axis3r getAngulerVelocity() const = 0;
      virtual Axis3r getPosition() const = 0;
      virtual Axis3r getLinearVelocity() const = 0;
      virtual Axis4r getOrientation() const = 0;
      virtual GeoPoint getGeoPoint() const = 0;
  
      virtual KinematicsState getKinematicsEstimated() const = 0;
  
  
      virtual void setHomeGeoPoint(const GeoPoint& geo_point) = 0;
      virtual GeoPoint getHomeGeoPoint() const = 0;
  
      virtual Axis3r transformToBodyFrame(const Axis3r& world_frame_val) const = 0;
  };
  
  }