capture_pose.h

Go to the documentation of this file.

// WOLF - Copyright (C) 2020-2026
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#pragma once
 
// Wolf includes
#include "core/capture/capture_base.h"
#include "core/factor/factor_pose_2d.h"
#include "core/factor/factor_pose_3d.h"
#include "core/feature/feature_base.h"
 
// std includes
//
 
namespace wolf
{
WOLF_PTR_TYPEDEFS(CapturePose);
 
// class CapturePose
class CapturePose : public CaptureBase
{
  protected:
    Eigen::VectorXd data_;             
    Eigen::MatrixXd data_covariance_;  
 
  public:
    CapturePose(const TimeStamp&       _ts,
                SensorBasePtr          _sensor_ptr,
                const Eigen::VectorXd& _data,
                const Eigen::MatrixXd& _data_covariance);
 
    ~CapturePose() override;
 
    virtual void    emplaceFeatureAndFactor(const ProcessorBasePtr& _processor           = nullptr,
                                            bool                    _apply_loss_function = false);
    Eigen::VectorXd getData() const
    {
        return data_;
    }
    Eigen::MatrixXd getDataCovariance() const
    {
        return data_covariance_;
    }
    void setData(const Eigen::VectorXd& _data);
    void setDataCovariance(const Eigen::MatrixXd& _data_covariance);
};
 
}  // namespace wolf