00001 #ifndef FEATURENAV_BASE_POTENTIAL_LANDMARK_H 00002 #define FEATURENAV_BASE_POTENTIAL_LANDMARK_H 00003 00004 #include <ros/ros.h> 00005 00006 #include <featurenav_base/Feature.h> 00007 #include <featurenav_base/Landmark.h> 00008 00009 namespace featurenav_base 00010 { 00011 00012 /* A struct containng a ::featurenav_base::Landmark with extra information 00013 */ 00014 struct PotentialLandmark 00015 { 00016 PotentialLandmark(const Feature& descriptor, const ros::Time time, const double x, const double y, const double d) : 00017 landmark(), 00018 last_seen(time) 00019 { 00020 landmark.descriptor = descriptor; 00021 landmark.u.x = x; 00022 landmark.u.y = y; 00023 landmark.v = landmark.u; 00024 landmark.du = d; 00025 landmark.dv = d; 00026 } 00027 00028 Landmark landmark; 00029 ros::Time last_seen; 00030 }; 00031 00032 } /* namespace featurenav_base */ 00033 00034 #endif // FEATURENAV_BASE_POTENTIAL_LANDMARK_H