artag_image_based_vs_alg.cpp

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#include "artag_image_based_vs_alg.h"

ArtagImageBasedVsAlgorithm::ArtagImageBasedVsAlgorithm(void)
{
}

ArtagImageBasedVsAlgorithm::~ArtagImageBasedVsAlgorithm(void)
{
}

void ArtagImageBasedVsAlgorithm::config_update(Config& new_cfg, uint32_t level)
{
  this->lock();

  // save the current configuration
  this->config_=new_cfg;
  
  this->unlock();
}

// ArtagImageBasedVsAlgorithm Public API

void ArtagImageBasedVsAlgorithm::artag_image_based_vs(const bool& traditional,
                                                                                                          const bool& random_points,
                                                                                                          const Eigen::MatrixXd& desired_pose,
                                                                                                          const Eigen::MatrixXd& current_pose,
                                                                                                          const double& dt, 
                                                                                                          const Eigen::MatrixXd& V_rollpitch,
                                                                                                          const bool& quadrotor,
                                                                                                          const Eigen::MatrixXd& kp,
                                                                                                          const Eigen::MatrixXd& kd,
                                                                                                          const Eigen::MatrixXd& ki,
                                                                                                          const double& i_lim,
                                                                                                          Eigen::MatrixXd& cam_vel)

{       

ibvs.image_based_vs(traditional, random_points, desired_pose, current_pose, dt, V_rollpitch, quadrotor, kp, kd, ki, i_lim, cam_vel);

}