Segments.hpp

/* $Id$ */

#ifndef _GEOMSLAM_SEGMENTS_HPP
#define _GEOMSLAM_SEGMENTS_HPP

#include <geom/Segment.hpp>

namespace jafar {
  namespace slam {
    class SegmentFeature;
  }
  namespace geomslam {
    class SlamSegmentDriver : public geom::Segment3D::Driver, public geom::Line3D::Driver {
      private:
        typedef geom::Atom3D::HomogenousVecD HomogenousVecD;
        typedef geom::Atom3D::VecD VecD;
        typedef geom::Atom3D::HomogenousMatrixD HomogenousMatrixD;
        typedef geom::Atom3D::HomogenousSymMatrixD HomogenousSymMatrixD;
      public:
        SlamSegmentDriver( const slam::SegmentFeature* _segmentFeature);
        // Virtual segments driver functions
        virtual geom::Line3D support() const;
        virtual HomogenousVecD firstPoint() const;
        virtual HomogenousSymMatrixD firstPointCov() const;
        virtual HomogenousVecD lastPoint() const;
        virtual HomogenousSymMatrixD lastPointCov() const;
        virtual geom::Segment3D::Driver* cloneSegmentDriver() const;
        virtual geom::Line3D::Driver* asLineDriver();
        // Virtual lines driver functions
        virtual HomogenousVecD pointAt(double t) const;
        virtual HomogenousVecD origin() const;
        virtual HomogenousSymMatrixD originCov() const;
        virtual HomogenousVecD direction() const;
        virtual HomogenousSymMatrixD directionCov() const;
        virtual geom::Line3D::Driver* cloneLineDriver() const;
        // Virtual atom functions
        virtual const geom::Repere3D* reference( ) const;
        virtual bool hasCov() const;

      private:
        const slam::SegmentFeature* m_segmentFeature;
    };
  }
}

#endif