slam_technique.h

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#ifndef SLAM_TECHNIQUE_H
#define SLAM_TECHNIQUE_H

#include <tuw_geometry/tuw_geometry.h>
#include <opencv2/core/core.hpp>
#include <boost/date_time/posix_time/ptime.hpp>

namespace tuw {

class SLAMTechnique;
typedef std::shared_ptr< SLAMTechnique > SLAMTechniquePtr;
typedef std::shared_ptr< SLAMTechnique const> SLAMTechniqueConstPtr;

class SLAMTechnique {
public:
    enum Type {
        EKF = 0,
    };

    SLAMTechnique ( Type type );

    void reset ( );

    Type getType() const;

    const std::string getTypeName() const;

    const boost::posix_time::ptime& time_last_update() const;

    virtual void setConfig ( const void *config ) = 0;

    virtual void cycle ( std::vector<Pose2D> &yt, cv::Mat_<double> &C_Yt, const Command &ut, const MeasurementConstPtr &zt ) = 0;
protected:
    static std::map<Type, std::string> TypeName_;           

    virtual void init ( ) = 0;

    bool updateTimestamp(const boost::posix_time::ptime& t);

    bool reset_;                                            
    boost::posix_time::ptime timestamp_last_update_;        
    boost::posix_time::time_duration duration_last_update_; 
private:  
    Type type_;                                             
};
};

#endif // SLAM_TECHNIQUE_H