AbsoluteAdapterBase.hpp

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/******************************************************************************
 * Author:   Laurent Kneip                                                    *
 * Contact:  kneip.laurent@gmail.com                                          *
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#ifndef OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_
#define OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_

#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>

namespace opengv
{
namespace absolute_pose
{

class AbsoluteAdapterBase
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  AbsoluteAdapterBase() :
      _t(Eigen::Vector3d::Zero()),
      _R(Eigen::Matrix3d::Identity()) {};
  AbsoluteAdapterBase( const opengv::rotation_t & R ) :
      _t(Eigen::Vector3d::Zero()),
      _R(R) {};
  AbsoluteAdapterBase(
      const opengv::translation_t & t,
      const opengv::rotation_t & R ) :
      _t(t),
      _R(R) {};
  virtual ~AbsoluteAdapterBase() {};

  //Access of correspondences
  
  virtual opengv::bearingVector_t getBearingVector(size_t index ) const = 0;
  virtual double getWeight( size_t index ) const = 0;
  virtual opengv::translation_t getCamOffset( size_t index ) const = 0;
  virtual opengv::rotation_t getCamRotation( size_t index ) const = 0;
  virtual opengv::point_t getPoint( size_t index ) const = 0;
  virtual size_t getNumberCorrespondences() const = 0;

  //Access of priors or known values
  
  opengv::translation_t gett() const { return _t; };
  void sett(const opengv::translation_t & t) { _t = t; };
  opengv::rotation_t getR() const { return _R; };
  void setR(const opengv::rotation_t & R) { _R = R; };

protected:
  opengv::translation_t _t;
  opengv::rotation_t _R;

};

}
};

#endif /* OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_ */