pose.hpp

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#ifndef _POSE_HPP
#define _POSE_HPP
 
#include <vector>
#include <memory>
#include <Eigen/Dense>
 
namespace galaxis {
  namespace control {
 
    class CarPose {
    public:
      Eigen::Vector2f position; // (x,y) position in m
      float orientation; // car view directed to x axis (counter-clockwise) in radians [0,2pi] // should be 0 if coordinate system is relative to vehicle
      CarPose(Eigen::Vector2f const& position = Eigen::Vector2f(0.0, 0.0), float orientation = 0);
    };
 
    std::ostream& operator<<(std::ostream& strm, CarPose const& pose);
 
    typedef std::vector<std::shared_ptr<CarPose>> CarPoseSeries;
 
  } // namespace control
} // namespace galaxis
 
#endif // _POSE_HPP