Pose.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
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 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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#ifndef _MIRA_POSE_H_
#define _MIRA_POSE_H_

#include <utils/Stamped.h>

#include <transform/RigidTransform.h>

namespace mira
{


// some typedefs for easier access

typedef RigidTransform<float,2> Pose2;

typedef RigidTransform<float,3> Pose3;

typedef RigidTransformCov<float,2> PoseCov2;

typedef RigidTransformCov<float,3> PoseCov3;


template <typename TPose>
struct PoseVectorTrait {
    typedef std::vector<TPose> VectorType;
    static const bool needsAlignment = false;
};

template <>
struct PoseVectorTrait<Pose3> {
    typedef std::vector<Pose3, Eigen::aligned_allocator<Pose3>> VectorType;
    static const bool needsAlignment = true;
};

template <>
struct PoseVectorTrait<PoseCov3> {
    typedef std::vector<PoseCov3, Eigen::aligned_allocator<PoseCov3>> VectorType;
    static const bool needsAlignment = true;
};


typedef PoseVectorTrait<Pose2>::VectorType Pose2Vector;

typedef PoseVectorTrait<Pose3>::VectorType Pose3Vector;

typedef PoseVectorTrait<PoseCov2>::VectorType PoseCov2Vector;

typedef PoseVectorTrait<PoseCov3>::VectorType PoseCov3Vector;



typedef PoseCov2Vector Pose2CovVector;

typedef PoseCov3Vector Pose3CovVector;



}

#endif