SRBA: Sparser Relative Bundle Adjustment: srba/models/kf2kf

00001 /* +---------------------------------------------------------------------------+
00002    |                     Mobile Robot Programming Toolkit (MRPT)               |
00003    |                          http://www.mrpt.org/                             |
00004    |                                                                           |
00005    | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
00006    | See: http://www.mrpt.org/Authors - All rights reserved.                   |
00007    | Released under BSD License. See details in http://www.mrpt.org/License    |
00008    +---------------------------------------------------------------------------+ */
00009 
00010 #pragma once
00011 
00012 #include <mrpt/poses/CPose3D.h>
00013 #include <mrpt/poses/CPose2D.h>
00014 #include <mrpt/poses/SE_traits.h>
00015 
00016 namespace srba {
00017 namespace kf2kf_poses
00018 {
00026     struct SE3
00027     {
00028         static const size_t REL_POSE_DIMS = 6;  
00029         typedef mrpt::poses::CPose3D       pose_t;  
00030         typedef mrpt::poses::SE_traits<3>  se_traits_t;  
00031     };
00032 
00033     struct SE2
00034     {
00035         static const size_t REL_POSE_DIMS = 3;  
00036         typedef mrpt::poses::CPose2D   pose_t;  
00037         typedef mrpt::poses::SE_traits<2>  se_traits_t;  
00038     };
00039 
00042 }
00043 } // end NS