featureAbstract.hpp

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#ifndef __FeatureAbstract_H__
#define __FeatureAbstract_H__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#include "jmath/jblas.hpp"

#include "rtslam/rtSlam.hpp"
#include "rtslam/objectAbstract.hpp"
#include "rtslam/gaussian.hpp"
#include "rtslam/measurement.hpp"

namespace jafar {
  namespace rtslam {

    class FeatureAbstract : public ObjectAbstract {
      public:
        appearance_ptr_t appearancePtr;
        Measurement measurement;

        FeatureAbstract(): measurement(0) {}
        FeatureAbstract(size_t size, appearance_ptr_t appearancePtr_) : 
          appearancePtr(appearancePtr_), measurement(size)
        {
          measurement.matchScore = 0.0;
        }

        virtual ~FeatureAbstract() {
        }

        virtual std::string categoryName() const {
          return "FEATURE";
        }

    };

  }

}

#endif // #ifndef __FeatureAbstract_H__
/*
 * Local variables:
 * mode: c++
 * indent-tabs-mode: t
 * tab-width: 2
 * c-basic-offset: 2
 * End:
 */