Map.hpp

/* $Id$ */

#ifndef _GEOMSLAM_MAP_HPP_
#define _GEOMSLAM_MAP_HPP_

#include "geom/Repere.hpp"

namespace jafar {
  namespace slammm {
    class MapsPoseManager;
  }
  namespace geomslam {
    class MMMap : public geom::Repere3D::Driver {
        typedef geom::Atom3D::HomogenousVecD HomogenousVecD;
        typedef geom::Atom3D::VecD VecD;
        typedef geom::Atom3D::HomogenousMatrixD HomogenousMatrixD;
        typedef geom::Atom3D::SymMatrixD SymMatrixD;
      public:
        MMMap( const slammm::MapsPoseManager* _mmslam, unsigned int _mapId );
        ~MMMap();
        virtual const geom::Repere3D* reference() const;
        virtual HomogenousVecD origin() const;
        virtual HomogenousVecD vec(uint index) const;
        virtual void localToReference(HomogenousMatrixD&) const;
        virtual bool hasCov() const;
      private:
        const slammm::MapsPoseManager* m_mmslam;
        unsigned int m_mapId;
    };
  }
}

#endif