state_pos_vel.h

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/* Author: Wim Meeussen */


#ifndef PEOPLE_TRACKING_FILTER_STATE_POS_VEL_H
#define PEOPLE_TRACKING_FILTER_STATE_POS_VEL_H

#include <tf/tf.h>

namespace BFL
{
class StatePosVel
{
public:
  tf::Vector3 pos_, vel_;

  StatePosVel(const tf::Vector3& pos = tf::Vector3(0, 0, 0),
              const tf::Vector3& vel = tf::Vector3(0, 0, 0)):  pos_(pos), vel_(vel) {}

  ~StatePosVel() {}

  StatePosVel& operator += (const StatePosVel& s)
  {
    this->pos_ += s.pos_;
    this->vel_ += s.vel_;
    return *this;
  }

  StatePosVel operator + (const StatePosVel& s)
  {
    StatePosVel res;

    res.pos_ = this->pos_ + s.pos_;
    res.vel_ = this->vel_ + s.vel_;
    return res;
  }

  friend std::ostream& operator<< (std::ostream& os, const StatePosVel& s)
  {
    os << "(" << s.pos_[0] << ", " << s.pos_[1] << ", "  << s.pos_[2] << ")--("
       << "(" << s.vel_[0] << ", " << s.vel_[1] << ", "  << s.vel_[2] << ") ";
    return os;
  };
};
}  // end namespace BFL
#endif  // PEOPLE_TRACKING_FILTER_STATE_POS_VEL_H