motion_information.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G.Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_MOTION_INFORMATION_H
#define G2O_MOTION_INFORMATION_H

#include <vector>
#include <Eigen/StdVector>

#include "g2o/types/slam2d/se2.h"
#include "g2o_calibration_odom_laser_api.h"

namespace g2o {

  struct G2O_CALIBRATION_ODOM_LASER_API MotionInformation
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    SE2 laserMotion;
    SE2 odomMotion;
    double timeInterval;
  };

  typedef std::vector<MotionInformation, Eigen::aligned_allocator<MotionInformation> >     MotionInformationVector;

} // end namespace

#endif