feature_motion.h

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// 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
 
#include "core/feature/feature_base.h"
#include "core/capture/capture_motion.h"
 
namespace wolf
{
WOLF_PTR_TYPEDEFS(FeatureMotion);
 
class FeatureMotion : public FeatureBase
{
  public:
    FeatureMotion(const std::string&     _type,
                  const Eigen::VectorXd& _delta_preint,
                  const Eigen::MatrixXd  _delta_preint_cov,
                  const Eigen::VectorXd& _calib_preint,
                  const Eigen::MatrixXd& _jacobian_calib);
    ~FeatureMotion() override;
 
    const Eigen::VectorXd& getDeltaPreint() const;  
    const Eigen::VectorXd& getCalibrationPreint() const;
    const Eigen::MatrixXd& getJacobianCalibration() const;
 
  private:
    Eigen::VectorXd calib_preint_;
    Eigen::MatrixXd jacobian_calib_;
};
 
inline const Eigen::VectorXd& FeatureMotion::getDeltaPreint() const
{
    return measurement_;
}
 
inline const Eigen::VectorXd& FeatureMotion::getCalibrationPreint() const
{
    return calib_preint_;
}
 
inline const Eigen::MatrixXd& FeatureMotion::getJacobianCalibration() const
{
    return jacobian_calib_;
}
 
} /* namespace wolf */