artag_pose_based_vs_alg.cpp

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#include "artag_pose_based_vs_alg.h"

using namespace Eigen;
using namespace std;

ArtagPoseBasedVsAlgorithm::ArtagPoseBasedVsAlgorithm(void)
{
}

ArtagPoseBasedVsAlgorithm::~ArtagPoseBasedVsAlgorithm(void)
{
}

void ArtagPoseBasedVsAlgorithm::config_update(Config& new_cfg, uint32_t level)
{
  this->lock();

  // save the current configuration
  this->config_=new_cfg;
  
  this->unlock();
}

// ArtagPoseBasedVsAlgorithm Public API
void ArtagPoseBasedVsAlgorithm::pose_based_vs(const MatrixXd& desired_pose,
                                         const MatrixXd& current_pose,
                                         const double& dt, 
                                         const MatrixXd& kp,
                                         const MatrixXd& kd,
                                         const MatrixXd& ki,
                                         const double& i_lim,
                                         MatrixXd& cam_vel)
{

  pbvs.pose_based_vs(desired_pose, current_pose, dt, kp, kd, ki, i_lim, cam_vel);
}