StartNewMapStrategy.hpp

/* $Id$ */

#ifndef _MULTI_START_NEW_MAP_STRATEGY_HPP_
#define _MULTI_START_NEW_MAP_STRATEGY_HPP_

#include <kernel/dataLog.hpp>
#include <geom/t3dEuler.hpp>
#include <slam/slamEkf.hpp>
#include <slam/robot.hpp>
#include <slam/baseSlam.hpp>
#include <slam/MapManagerFactory.hpp>

namespace jafar {
  namespace slammm {
    class StartNewMapStrategy {
      public:
        virtual ~StartNewMapStrategy();
        virtual bool startNewMap( const slam::SlamEkf& _currentMap, unsigned int _robotId, unsigned int _newFeaturesCount) const =0;
    };
    class FeaturesCountStartNewMapStrategy : public StartNewMapStrategy {
      public:
        FeaturesCountStartNewMapStrategy( unsigned int _maxFeatures );
        virtual ~FeaturesCountStartNewMapStrategy();
        virtual bool startNewMap( const slam::SlamEkf& _currentMap, unsigned int _robotId, unsigned int _newFeaturesCount) const;
      private:
        unsigned int m_maxFeatures;
    };
  }
}

#endif