loop_closure.hpp

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#pragma once
 
#include <Eigen/Core>
#include <common_lib/structures/cone.hpp>
#include <utility>
#include <vector>
 
class LoopClosure {
public:
  struct Result {
    bool detected;
    double offset;
  };
 
  virtual ~LoopClosure() = default;
 
  virtual Result detect(const Eigen::Vector3d& current_pose, const Eigen::VectorXd& map_cones,
                        const Eigen::VectorXi& associations,
                        const Eigen::VectorXd& observations) const = 0;
};