model.h

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
// All rights reserved.

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// modification, are permitted provided that the following conditions are met:
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//       TU Darmstadt, nor the names of its contributors may be used to
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#ifndef HECTOR_POSE_ESTIMATION_MODEL_H
#define HECTOR_POSE_ESTIMATION_MODEL_H

#include <hector_pose_estimation/parameters.h>
#include <hector_pose_estimation/types.h>
#include <hector_pose_estimation/state.h>

namespace hector_pose_estimation {

class Model {
public:
  template <class Model> struct traits;

  virtual ~Model() {}

  virtual int getDimension() const = 0;
  virtual bool hasSubsystem() const { return false; }

  virtual bool init(PoseEstimation& estimator, State& state) { return true; }
  virtual void cleanup() { }
  virtual void reset(State& state) { }

  ParameterList& parameters() { return parameters_; }
  const ParameterList& parameters() const { return parameters_; }

protected:
  ParameterList parameters_;
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_MODEL_H