GraftSensor.h

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. 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"
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/* 
 * Author: Chad Rockey
 */

#ifndef GRAFT_INCLUDE_GRAFT_GRAFT_SENSOR_H_
#define GRAFT_INCLUDE_GRAFT_GRAFT_SENSOR_H_

#include <ros/ros.h>
#include <Eigen/Dense>
#include <graft/GraftState.h>
#include <graft/GraftSensorResidual.h>

#include <nav_msgs/Odometry.h>

using namespace Eigen;

class GraftSensor
{
public:
  virtual ~GraftSensor(){}

  //virtual MatrixXd H(graft::GraftState& state) = 0;

  virtual graft::GraftSensorResidual::Ptr z() = 0;

  virtual graft::GraftSensorResidual::Ptr h(const graft::GraftState& state) = 0;

  virtual void setName(const std::string& name) = 0;

  virtual std::string getName() = 0;

  virtual void clearMessage() = 0;

  //virtual graft::GraftSensorResidual y(graft::GraftState& predicted) = 0;

  //virtual MatrixXd R() = 0;

private:
    
};

#endif  // GRAFT_INCLUDE_GRAFT_GRAFT_SENSOR_H_