Program Listing for File landmark_detection_types.hpp

↰ Return to documentation for file (include/beluga/types/landmark_detection_types.hpp)

// Copyright 2023 Ekumen, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef BELUGA_TYPES_LANDMARK_DETECTION_TYPES_HPP
#define BELUGA_TYPES_LANDMARK_DETECTION_TYPES_HPP

// external
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Geometry>

// standard library
#include <cstdint>

namespace beluga {

using LandmarkCategory = uint32_t;
using LandmarkPosition3 = Eigen::Vector3d;
using LandmarkBearing3 = Eigen::Vector3d;

using LandmarkMapBoundaries = Eigen::AlignedBox3d;

struct LandmarkPositionDetection {
  LandmarkPosition3 detection_position_in_robot;
  LandmarkCategory category;
};

struct LandmarkBearingDetection {
  LandmarkBearing3 detection_bearing_in_sensor;
  LandmarkCategory category;
};

}  // namespace beluga

#endif