full3dPredictModel.hpp

/* $Id$ */

#ifndef SLAM_FULL3D_PREDICT_MODEL_HPP
#define SLAM_FULL3D_PREDICT_MODEL_HPP

#include "jmath/jblas.hpp"

#include "geom/t3dEuler.hpp"

#include "filter/predictModel.hpp"

namespace jafar {
  namespace slam {

    class Full3dPredictModel :
      public jafar::filter::JacobianBlockCommandPredictModel {

    private:

      geom::T3D* m_predToRef;
      geom::T3D* m_refToPred;

    public:

      Full3dPredictModel();
      ~Full3dPredictModel();

      jafar::geom::T3D const& predToRef() const {return *m_predToRef;}
      jafar::geom::T3D const& refToPred() const {return *m_refToPred;}

      void setPredToRef(jafar::geom::T3DEuler const& predToRef);

      void predict(jblas::vec_range& x_r, jblas::vec const& u);

    }; // class Full3dPredictModel

  } // namespace slam
} // namespace jafar

#endif // SLAM_FULL3D_PREDICT_MODEL_HPP