base_v2p_motion_model.hpp

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#pragma once
 
#include <Eigen/Dense>
 
class V2PMotionModel {
public:
  virtual ~V2PMotionModel() = default;
 
  virtual Eigen::Vector3d get_next_pose(const Eigen::Vector3d &previous_pose,
                                        const Eigen::VectorXd &motion_data, const double delta_t);
 
  virtual Eigen::Vector3d get_pose_difference(const Eigen::Vector3d &previous_pose,
                                              const Eigen::VectorXd &motion_data,
                                              const double delta_t) = 0;
 
  virtual Eigen::Matrix3d get_jacobian_pose(const Eigen::Vector3d &previous_pose,
                                            const Eigen::VectorXd &motion_data,
                                            const double delta_t) = 0;
 
  virtual Eigen::MatrixXd get_jacobian_motion_data(
      const Eigen::Vector3d &previous_pose, [[maybe_unused]] const Eigen::VectorXd &motion_data,
      const double delta_t) = 0;
};