abstractMapObject.hpp

/* $Id$ */

#ifndef SLAM_ABSTRACT_MAP_OBJECT_HPP
#define SLAM_ABSTRACT_MAP_OBJECT_HPP

#include "jmath/jblas.hpp"

namespace jafar {
  namespace slam {

    class SlamEkf;
    class DefaultMapManager;
    class LocalMapManager;
    class GlobalMapManager;
    class StrongMapManager;

    class AbstractMapObject {

    public:
    AbstractMapObject(unsigned int id) : m_id(id), m_x(0), m_P(0) {}
    
      virtual ~AbstractMapObject();
    
      unsigned int id() const {return m_id;}
    
      std::size_t filterIndex() const {return m_filterIndex;}

      jblas::vec_range& getX() {return *m_x;}
    
      jblas::vec_range const& getX() const {return *m_x;}

    jblas::sym_mat_range& getP() {return *m_P;}
      
    jblas::sym_mat_range const& getP() const {return *m_P;}
            
      virtual std::size_t sizeState() const = 0;
    
      virtual void setState(jblas::vec& x_, jblas::sym_mat& P_);

    protected:

      unsigned int m_id;
    
      std::size_t m_filterIndex;
    private:
      
      jblas::vec_range* m_x;
      jblas::sym_mat_range* m_P;

      friend class DefaultMapManager;
      friend class LocalMapManager;
      friend class GlobalMapManager;
      friend class StrongMapManager;
    }; // AbstractMapObject
  }
}

#endif // SLAM_ABSTRACT_MAP_MANAGER_HPP