handrail_points_measurement.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef LOCALIZATION_MEASUREMENTS_HANDRAIL_POINTS_MEASUREMENT_H_
#define LOCALIZATION_MEASUREMENTS_HANDRAIL_POINTS_MEASUREMENT_H_
 
#include <ff_common/eigen_vectors.h>
#include <localization_common/time.h>
#include <localization_measurements/measurement.h>
#include <localization_measurements/plane.h>
#include <localization_measurements/timestamped_handrail_pose.h>
 
#include <gtsam/geometry/Point3.h>
 
#include <utility>
#include <vector>
 
namespace localization_measurements {
struct HandrailPointsMeasurement : public Measurement {
  std::vector<gtsam::Point3> sensor_t_line_points;
  std::vector<gtsam::Point3> sensor_t_line_endpoints;
  std::vector<gtsam::Point3> sensor_t_plane_points;
  TimestampedHandrailPose world_T_handrail;
  boost::optional<std::pair<gtsam::Point3, gtsam::Point3>> world_t_handrail_endpoints;
  Plane world_T_handrail_plane;
};
}  // namespace localization_measurements
 
#endif  // LOCALIZATION_MEASUREMENTS_HANDRAIL_POINTS_MEASUREMENT_H_