00001 #ifndef DUMMYMAPPINGPROCESS_HPP
00002 #define DUMMYMAPPINGPROCESS_HPP
00003
00004 #include <rtslam/gaussian.hpp>
00005 #include <graphmap/inputManager.hpp>
00006
00007 namespace jafar{
00008 namespace graphmap{
00009
00010 class DummyMappingProcess;
00011 typedef boost::shared_ptr<DummyMappingProcess> dummy_mapping_process_ptr_t;
00012
00013 class DummyMappingProcess
00014 {
00015
00016 public:
00017 DummyMappingProcess();
00018 DummyMappingProcess(unsigned int seed);
00019
00020 void update();
00021 void closeMap();
00022 bool testMapClosing();
00023
00024 void updateLinkPoster(const Transformation &t);
00025 void updateRobotPosePoster();
00026
00027 unsigned int _num_lmks;
00028 unsigned int _max_num_lmks;
00029 rtslam::Gaussian _rob_pos;
00030 double _max_rob_uncertainty;
00031
00032 bool link_poster_updated;
00033 new_map_data_t link_poster;
00034
00035 bool robot_pose_poster_updated;
00036 euler_tf_data_t robot_pose_poster;
00037
00038 };
00039
00040 }
00041 }
00042
00043 #endif // DUMMYMAPPINGPROCESS_HPP
