base_landmark_filter.hpp

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#pragma once
#include <Eigen/Dense>
#include <memory>
#include <vector>
 
#include "perception_sensor_lib/data_association/base_data_association.hpp"
#include "perception_sensor_lib/landmark_filter/parameters.hpp"
 
class LandmarkFilter {
protected:
  LandmarkFilterParameters _params_;
  std::shared_ptr<DataAssociationModel> _data_association_;
 
public:
  LandmarkFilter() = default;
  LandmarkFilter(LandmarkFilterParameters params,
                 std::shared_ptr<DataAssociationModel> data_association)
      : _params_(params), _data_association_(data_association) {}
  virtual ~LandmarkFilter() = default;
  virtual Eigen::VectorXd filter(const Eigen::VectorXd& observations,
                                 const Eigen::VectorXd& observation_confidences,
                                 Eigen::VectorXi& associations) = 0;
  virtual void delete_landmarks(const Eigen::VectorXd& some_landmarks) = 0;
};