factor_data_structures.hpp

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#pragma once
 
#include <Eigen/Dense>
#include <memory>
#include <rclcpp/rclcpp.hpp>
 
enum class MotionInputType {
  VELOCITIES,  
  ODOMETRY     
};
 
struct MotionData {
  std::shared_ptr<Eigen::VectorXd> motion_data_;
  std::shared_ptr<Eigen::VectorXd> motion_data_noise_;
  rclcpp::Time timestamp_;
  MotionInputType type_ = MotionInputType::VELOCITIES;  
 
  MotionData() = default;
  MotionData(std::shared_ptr<Eigen::VectorXd> motion_data,
             std::shared_ptr<Eigen::VectorXd> motion_data_noise, rclcpp::Time timestamp,
             MotionInputType type = MotionInputType::VELOCITIES)
      : motion_data_(motion_data),
        motion_data_noise_(motion_data_noise),
        timestamp_(timestamp),
        type_(type) {}
};
 
struct ObservationData {
  std::shared_ptr<Eigen::VectorXd> observations_;
  std::shared_ptr<Eigen::VectorXi> associations_;
  std::shared_ptr<Eigen::VectorXd> observations_global_;
  std::shared_ptr<Eigen::VectorXd> observations_confidences_;
  rclcpp::Time timestamp_;
 
  ObservationData() = default;
  ObservationData(std::shared_ptr<Eigen::VectorXd> observations,
                  std::shared_ptr<Eigen::VectorXi> associations,
                  std::shared_ptr<Eigen::VectorXd> observations_global,
                  std::shared_ptr<Eigen::VectorXd> observations_confidences, rclcpp::Time timestamp)
      : observations_(observations),
        associations_(associations),
        observations_global_(observations_global),
        observations_confidences_(observations_confidences),
        timestamp_(timestamp) {}
};