updater.hpp

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/*
 * SPDX-FileCopyrightText: 2021-2024 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021 Nils Funk
 * SPDX-FileCopyrightText: 2021-2024 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_UPDATER_HPP
#define SE_UPDATER_HPP
 
#include <se/integrator/measurement.hpp>
 
namespace se {
 
template<typename MapT, typename SensorT>
struct Updater {
    Updater(MapT& map, const timestamp_t timestamp, const Measurements<SensorT>& measurements);
 
    Updater(MapT& map,
            std::vector<OctantBase*>& octant_ptrs,
            const timestamp_t timestamp,
            const Measurements<SensorT>& measurements);
};
 
} // namespace se
 
#include "multires_ofusion_updater.hpp"
#include "multires_tsdf_updater.hpp"
#include "singleres_tsdf_updater.hpp"
 
#endif // SE_UPDATER_HPP