tuw_marker_slam.h

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#ifndef TUW_MARKER_SLAM_H
#define TUW_MARKER_SLAM_H

#include <tuw_geometry/tuw_geometry.h>
#include <opencv2/core/core.hpp>

#include "tuw_marker_slam/slam_technique.h"
#include "tuw_marker_slam/SLAMConfig.h"

namespace tuw {
class SLAM {
public:
    SLAM ();                                                

protected:
    std::vector<Pose2D> yt_;                                
    cv::Mat_<double> C_Yt_;                                 
    Command ut_;                                            
    MeasurementPtr zt_;                                     

    unsigned long loop_count_;                              
    SLAMTechniquePtr slam_technique_;                       

    tuw_marker_slam::SLAMConfig config_;                    

    void cycle ();                                          
};
};

#endif // TUW_MARKER_SLAM_H