ioData.hpp

#ifndef IODATA_HPP
#define IODATA_HPP

#include <graphmap/ioDataC.h>

#include <jmath/jblas.hpp>

namespace jafar{
namespace graphmap{

typedef struct new_map_data_t{
  new_map_data_t() : link_P_euler(6,6), robot_P_euler(6,6) {}
  new_map_data_t(c_new_map_data_t data);

  c_new_map_data_t c_struct();

  jblas::vec6 link_x_euler;
  jblas::sym_mat link_P_euler;
  jblas::vec6 robot_x_euler;
  jblas::sym_mat robot_P_euler;
} new_map_data_t;

typedef struct euler_tf_data_t{
  euler_tf_data_t() : P_euler(6,6) {}
  euler_tf_data_t(c_euler_tf_data_t data);
  euler_tf_data_t(c_euler_std_tf_data_t data);

  c_euler_tf_data_t c_struct();

  jblas::vec6 x_euler;
  jblas::sym_mat P_euler;
} euler_tf_data_t;

typedef struct euler_std_tf_data_t{
  euler_std_tf_data_t() {}
  euler_std_tf_data_t(c_euler_tf_data_t data);
  euler_std_tf_data_t(c_euler_std_tf_data_t data);

  c_euler_std_tf_data_t c_struct();

  jblas::vec6 x_euler;
  jblas::vec6 std_euler;
} euler_std_tf_data_t;

} // namespace graphmap
} // namespace jafar

#endif // IODATA_HPP