MapRepresentationInterface.h

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//=================================================================================================
// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
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//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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//=================================================================================================

#ifndef _hectormaprepresentationinterface_h__
#define _hectormaprepresentationinterface_h__

class GridMap;
class ConcreteOccGridMapUtil;
class DataContainer;

namespace hectorslam{

class MapRepresentationInterface
{
public:

  virtual ~MapRepresentationInterface() {};

  virtual void reset() = 0;

  virtual float getScaleToMap() const = 0;

  virtual int getMapLevels() const = 0;
  virtual const GridMap& getGridMap(int mapLevel = 0) const = 0;

  virtual void addMapMutex(int i, MapLockerInterface* mapMutex) = 0;
  virtual MapLockerInterface* getMapMutex(int i) = 0;

  virtual void onMapUpdated() = 0;

  virtual Eigen::Vector3f matchData(const Eigen::Vector3f& beginEstimateWorld, const DataContainer& dataContainer, Eigen::Matrix3f& covMatrix) = 0;

  virtual void updateByScan(const DataContainer& dataContainer, const Eigen::Vector3f& robotPoseWorld) = 0;

  virtual void setUpdateFactorFree(float free_factor) = 0;
  virtual void setUpdateFactorOccupied(float occupied_factor) = 0;
};

}

#endif