mapObject.hpp

Go to the documentation of this file.

#ifndef MAPOBJECT_HPP_
#define MAPOBJECT_HPP_

#include "jmath/jblas.hpp"
#include "rtslam/rtSlam.hpp"
#include "rtslam/objectAbstract.hpp"
#include "rtslam/mapAbstract.hpp"
#include "rtslam/gaussian.hpp"

namespace jafar {
  namespace rtslam {


    class MapObject: public ObjectAbstract {

        friend std::ostream& operator <<(std::ostream & s, MapObject const & obj);

      public:

        typedef enum {
          FILTERED,  
          UNFILTERED 
        } filtered_obj_t;

        Gaussian state;  
        Gaussian stateU; 

        MapObject(const map_ptr_t & _mapPtr, const size_t _size, const size_t _sizeU);
        void construct(const map_ptr_t & _mapPtr, const size_t _size, const size_t _sizeU);
        MapObject(const map_ptr_t & _mapPtr, const MapObject & _previousObj, const size_t _size, jblas::ind_array & _icomp);

        virtual ~MapObject() {
        }

        void setup(const vec & _state, const vec & _stateStdDev){
          state.x(_state);
          state.std(_stateStdDev);
        }
        void setupU(const vec & _state, const vec & _stateStdDev){
          stateU.x(_state);
          stateU.std(_stateStdDev);
        }
        void setup(const vec & _state, const sym_mat & _stateCov){
          state.x(_state);
          state.P(_stateCov);
        }
        void setupU(const vec & _state, const sym_mat & _stateCov){
          stateU.x(_state);
          stateU.P(_stateCov);
        }

        inline static size_t size() {
          return 0;
        }

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

//        virtual void reframe(vec7 localFrame, mat & X_xold) = 0 ;


    };

  }
}

#endif /* MAPOBJECT_HPP_ */