difference_based_ready_pose_updater.hpp

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#pragma once
 
#include <Eigen/Dense>
#include <utility>
 
#include "motion_lib/v2p_models/base_v2p_motion_model.hpp"
#include "slam_config/general_config.hpp"
#include "slam_solver/graph_slam_solver/factor_data_structures.hpp"
#include "slam_solver/graph_slam_solver/pose_updater/base_pose_updater.hpp"
 
class DifferenceBasedReadyPoseUpdater : public PoseUpdater {
  double minimum_pose_difference_ = 0.3;
 
public:
  explicit DifferenceBasedReadyPoseUpdater(const SLAMParameters& params);
 
  DifferenceBasedReadyPoseUpdater(const DifferenceBasedReadyPoseUpdater& other);
 
  DifferenceBasedReadyPoseUpdater& operator=(const DifferenceBasedReadyPoseUpdater& other);
 
  virtual ~DifferenceBasedReadyPoseUpdater();
 
  virtual std::shared_ptr<PoseUpdater> clone() const override;
 
  virtual bool pose_ready_for_graph_update() const override;
};