VisualOdometry.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------



#ifndef _VISUALODOMETRY_H
#define _VISUALODOMETRY_H


#include <Thread.h>

namespace MipAlgorithms{

        struct Pose3DandTime{
        Decimal x,y,z,roll,pitch,yaw;
        timeval time;
        //bool upToDate;
        };


 /* @{ */

    class VisualOdometry
    {
    public:
        VisualOdometry();
        virtual bool getPose3DUnscaled(Pose3DandTime* pose) = 0;//restituisce la posa
       
        //(probabilmente un SE3 o altro in dipendenza dell'implementazione di EKF)



    private:
        //Thread prova;
        //posa unscaled (SE3)
        
    };
 /* @} */
};// end namespace MipAlgorithms

#endif