SlammmSpafDBSynchroniser.hpp

/* $Id$ */

#ifndef _SPLAMF_SLAMMM_SPAF_DB_SYNCHRONISER_H_
#define _SPLAMF_SLAMMM_SPAF_DB_SYNCHRONISER_H_

#include <slammm/MultiMapEvents.hpp>

namespace jafar {
  namespace slammm {
    class MultiMapsSlam;
  }
  namespace spafdb {
    class SpafDB;
  }
  namespace splamf {
    class SlammmSpafDBSynchroniser : public slammm::MultiMapEventAdapter {
      public:
        SlammmSpafDBSynchroniser(slammm::MultiMapsSlam* mms, spafdb::SpafDB* _spafDB);
        virtual ~SlammmSpafDBSynchroniser();
      protected:
        virtual void mapClosed( int _robotId, int _mapId, slam::SlamEkf* );
      private:
        slammm::MultiMapsSlam* m_mms;
        spafdb::SpafDB* m_spafDB;
    };
  }
}

#endif