GraftSensor.h

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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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_