lap_counter.hpp

Go to the documentation of this file.

#pragma once
 
#include "loop_closure.hpp"
 
class LapCounter : public LoopClosure {
public:
  LapCounter(double threshold_dist, int first_x_cones, int border_width, int minimum_confidence);
 
  Result detect(const Eigen::Vector3d& current_pose, const Eigen::VectorXd& map_cones,
                const Eigen::VectorXi& associations,
                const Eigen::VectorXd& observations) const override;
 
private:
  double threshold_dist_;  // TODO: make this const or create parameters struct
  int first_x_cones_;
  int border_width_;
  int minimum_confidence_;
  mutable bool searching_{false};
};