SlammmMapsTransformation.hpp

/* $Id$ */

#ifndef _SLAMMM_MAPS_TRANSFORMATION_HPP_
#define _SLAMMM_MAPS_TRANSFORMATION_HPP_

#include "spaf/MapsTransformation.hpp"

namespace jafar {
  namespace slammm {
    class MapsPoseManager;
  }
  namespace splamf {
    class SlammmMapsTransformation : public spaf::MapsTransformation {
      public:
        SlammmMapsTransformation(const slammm::MapsPoseManager* manager);
        virtual ~SlammmMapsTransformation();
        virtual jafar::geom::T3DEuler worldToMap(unsigned int _mapId) const;
        virtual jafar::geom::T3DEuler mapToMap(unsigned int _mapId1, unsigned int _mapId2) const;
      private:
        const slammm::MapsPoseManager* m_mapsPoseManager;
    };
  }
}

#endif