kf2kf_poses.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/SE_traits.h>

namespace mrpt { namespace srba {
namespace kf2kf_poses
{
        /** \defgroup mrpt_srba_kf2kf KF-to-KF relative pose parameterizations
                * \ingroup mrpt_srba_grp */

        /** \addtogroup mrpt_srba_kf2kf
                * @{ */


        struct SE3
        {
                static const size_t REL_POSE_DIMS = 6;  //!< Each relative pose is parameterized as a CPose3D()
                typedef mrpt::poses::CPose3D       pose_t;  //!< The pose class
                typedef mrpt::poses::SE_traits<3>  se_traits_t;  //!< The SE(3) traits struct (for Lie algebra log/exp maps, etc.)
        };

        struct SE2
        {
                static const size_t REL_POSE_DIMS = 3;  //!< Each relative pose is parameterized as a CPose3D()
                typedef mrpt::poses::CPose2D   pose_t;  //!< The pose class
                typedef mrpt::poses::SE_traits<2>  se_traits_t;  //!< The SE(2) traits struct (for Lie algebra log/exp maps, etc.)
        };

        /** @} */

}
} } // end NS