trv_homographyMosaic.hpp

#ifndef TRV_HOMOGRAPHYMOSAIC_HPP
#define TRV_HOMOGRAPHYMOSAIC_HPP

#include "traversability/trv_rotations.hpp"
#include "traversability/trv_util.hpp"
#include "traversability/trv_homography.hpp"

#include "kernel/jafarException.hpp"
#include "jmath/jblas.hpp"
#include "jmath/ublasExtra.hpp"

namespace jafar {
  namespace traversability {
    
    class HomographyMosaic : public Homography
    {
      private:
        jblas::mat33 mH_C0Cn;
        jblas::mat33 mH_CnC0;
        
        int uCntr;
        int vCntr;
        
      public:
        HomographyMosaic ( void );
        ~HomographyMosaic ( void );
        void printInfo ( void ) const;
        
        // TODO move to the mosaicking class
        void update ( const jblas::mat33 &HC0C1 );
        void setH_C0Cn ( const jblas::mat33 &HC0Cn );
        void setH_CnC0 ( const jblas::mat33 &HCnC0 );
        jblas::mat33 getH_C0Cn ( void ) const { return mH_C0Cn; }
        jblas::mat33 getH_CnC0 ( void ) const { return mH_CnC0; }
        
        void init ( const float uCenter, const float vCenter );
    };
    
  } // namespace traversability
} // namespace jafar

#endif