base_data_association.hpp

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#pragma once
#include <Eigen/Dense>
#include <vector>
 
#include "perception_sensor_lib/data_association/parameters.hpp"
class DataAssociationModel {
protected:
  DataAssociationParameters _params_;
 
public:
  DataAssociationModel() = default;
  DataAssociationModel(DataAssociationParameters params) : _params_(params) {}
  virtual ~DataAssociationModel() = default;
  virtual Eigen::VectorXi associate(const Eigen::VectorXd& landmarks,
                                    const Eigen::VectorXd& observations,
                                    const Eigen::MatrixXd& covariance,
                                    const Eigen::VectorXd& observation_confidences) const = 0;
};