landmark.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
 
// Wolf includes
#include "core/landmark/landmark_base.h"
 
namespace wolf
{
template <unsigned int DIM>
class Landmark : public LandmarkBase
{
  public:
    Landmark(const VectorComposite& _state_vectors,
             const PriorComposite&  _state_priors  = {},
             const int              _external_id   = -1,
             const int              _external_type = -1);
 
    Landmark(const YAML::Node& _n);
 
    WOLF_LANDMARK_TEMPLATE_DIM_CREATE(Landmark, DIM);
 
    ~Landmark() override = default;
};
 
typedef Landmark<2> Landmark2d;
typedef Landmark<3> Landmark3d;
 
WOLF_DECLARED_PTR_TYPEDEFS(Landmark2d);
WOLF_DECLARED_PTR_TYPEDEFS(Landmark3d);
 
//                                  IMPLEMENTATION                                            //
 
template <unsigned int DIM>
inline Landmark<DIM>::Landmark(const VectorComposite& _state_vectors,
                               const PriorComposite&  _state_priors,
                               const int              _external_id,
                               const int              _external_type)
    : LandmarkBase(
          "Landmark" + std::to_string(DIM) + "d",
          {{'P', DIM == 2 ? "StatePoint2d" : "StatePoint3d"}, {'O', DIM == 2 ? "StateAngle" : "StateQuaternion"}},
          _state_vectors,
          _state_priors,
          _external_id,
          _external_type)
{
    static_assert(DIM == 2 or DIM == 3);
}
 
template <unsigned int DIM>
inline Landmark<DIM>::Landmark(const YAML::Node& _n)
    : LandmarkBase(
          "Landmark" + std::to_string(DIM) + "d",
          {{'P', DIM == 2 ? "StatePoint2d" : "StatePoint3d"}, {'O', DIM == 2 ? "StateAngle" : "StateQuaternion"}},
          _n)
{
    static_assert(DIM == 2 or DIM == 3);
}
 
}  // namespace wolf