measurement.hpp

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#include "jmath/jblas.hpp"
#include "rtslam/gaussian.hpp"


#ifndef MEASUREMENT_HPP_
#define MEASUREMENT_HPP_


namespace jafar {
  namespace rtslam {


    class Measurement: public Gaussian {
      public:

        Measurement(size_t _size);

        double matchScore; 
        jblas::vec std_est; 
        jblas::sym_mat searchP;
        
        friend std::ostream& operator <<(std::ostream & s, Measurement const & m_) {
          s << (rtslam::Gaussian&)(m_) << std::endl << "  .est std dev: " << m_.std_est;
          return s;
        }
    };


  }
}

#endif /* MEASUREMENT_HPP_ */