submap.hpp

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/*
 * SPDX-FileCopyrightText: 2024 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2024 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_SUBMAP_HPP
#define SE_SUBMAP_HPP
 
#include <Eigen/Geometry>
#include <Eigen/StdVector>
#include <memory>
#include <unordered_map>
#include <vector>
 
namespace se {
 
template<typename MapT>
struct Submap {
    std::shared_ptr<MapT> map;
 
    Eigen::Isometry3f T_WK = Eigen::Isometry3f::Identity();
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
template<typename MapT>
using SubmapVec = std::vector<Submap<MapT>, Eigen::aligned_allocator<Submap<MapT>>>;
 
template<typename KeyT, typename MapT>
using SubmapUnordMap =
    std::unordered_map<KeyT,
                       Submap<MapT>,
                       std::hash<KeyT>,
                       std::equal_to<KeyT>,
                       Eigen::aligned_allocator<std::pair<const KeyT, Submap<MapT>>>>;
 
} // namespace se
 
#endif // SE_SUBMAP_HPP