SlamSpafDBSynchroniser.hpp

/* $Id$ */

#ifndef _SPLAMF_SLAMSPAFDBSYNCHRONISER_HPP_
#define _SPLAMF_SLAMSPAFDBSYNCHRONISER_HPP_

#include <slam/slamEvents.hpp>

namespace jafar {
  namespace spafdb {
    class SpafDB;
  }
  namespace splamf {
    class SlamSpafDBSynchroniser : public slam::SlamEventAdapter {
      public:
        SlamSpafDBSynchroniser( int _mapId, slam::SlamEkf* ekf, spafdb::SpafDB* db );
        virtual ~SlamSpafDBSynchroniser( );
        
        virtual void addLandmark(const slam::BaseFeature& landmark);
        virtual void removeLandmark(const slam::BaseFeature& landmark);
      private:
        int m_mapId;
        slam::SlamEkf* m_slamEkf;
        spafdb::SpafDB* m_spafDB;
    };
  }
}

#endif