sensor_odometry2d.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, 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_SENSOR_ODOMETRY2D_H_
#define G2O_SENSOR_ODOMETRY2D_H_

#include "g2o_simulator_api.h"
#include "simulator2d_base.h"

namespace g2o {
  class G2O_SIMULATOR_API SensorOdometry2D: public BinarySensor<Robot2D, EdgeSE2, WorldObjectSE2 > {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    typedef Robot2D::PoseObject PoseObject;
    SensorOdometry2D(const std::string& name_);
    virtual void sense();
    virtual void addNoise(EdgeType* e);
  };

} // end namespace

#endif