landmark.h

Particle filtering implementation and application to people tracking.

#ifndef LANDMARK_H_
#define LANDMARK_H_

#include "point.h"
#include "point3d.h"

struct WeightedPoint: public Point
{
	double w;
		
	WeightedPoint():
		w(0)
	{}

	WeightedPoint(const double& _x, const double& _y, const double& _w):
		Point(_x,_y),
		w(_w)
	{}

	WeightedPoint(const Point& p, const double& _w):
		Point(p),
		w(_w)
	{}
};

struct FeatureLandmark
{
	Point3d landmark;
	Point feature;

	FeatureLandmark(const Point3d& landmark, const Point& feature):
		landmark(landmark),
		feature(feature)
	{
	}
};

struct Landmark: public Point3d
{
	bool tracked;
	double w;

	Landmark():
		tracked(false),
		w(0)
	{}

	Landmark(const double& _x, const double& _y, const double& _z, const double& _w):
		Point3d(_x,_y,_z),
		tracked(false),
		w(_w)
	{}

	Landmark(const Point3d& p, const double& _w):
		Point3d(p),
		tracked(false),
		w(_w)
	{}
};

#endif