trv_homography.hpp

#ifndef TRV_HOMOGRAPHY_HPP
#define TRV_HOMOGRAPHY_HPP

#include "kernel/jafarException.hpp"
#include "jmath/jblas.hpp"
#include "traversability/trv_util.hpp"

namespace jafar {
  namespace traversability {
    
    class Homography {
      
      protected:
        jblas::mat33 mH_C0C1;
        jblas::mat33 mH_C1C0;
        
      public:
        Homography ( void );
        virtual ~Homography ( void ) {};    // TODO: destructor as virtual, to erase more efficiently
        
        inline jblas::mat33 getH_C0C1 ( void ) const { return mH_C0C1; }
        inline jblas::mat33 getH_C1C0 ( void ) const { return mH_C1C0; }
        
        virtual void printInfo ( void ) const { };
    };
  } // namespace traversability
} // namespace jafar

#endif