nearest_neighbor.hpp

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#pragma once
#include <memory>
#include <rclcpp/rclcpp.hpp>
 
#include "common_lib/maths/transformations.hpp"
#include "perception_sensor_lib/data_association/base_data_association.hpp"
 
class NearestNeighbor : public DataAssociationModel {
public:
  NearestNeighbor(const DataAssociationParameters& params);
 
  ~NearestNeighbor() = default;
 
  Eigen::VectorXi associate(const Eigen::VectorXd& landmarks, const Eigen::VectorXd& observations,
                            const Eigen::MatrixXd& covariance,
                            const Eigen::VectorXd& observation_confidences) const override;
};