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VehPoseSource.h

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00001 
00006 #ifndef VEH_POSE_SOURCE_INTF_H
00007 #define VEH_POSE_SOURCE_INTF_H
00008 
00009 #include <utils/Time.h>
00010 #include <utils/Interface.h>
00011 #include <VehPoseDest/VehPose.h>
00012 
00022 UTILS_INTERFACE(VehPoseSource) {
00023  public:
00028   virtual ~VehPoseSource() {}
00029 
00041   virtual bool getPose(utils::Time time, VehPose& pose) = 0;
00042 
00060   virtual bool getCurPose(utils::Time& time,
00061                           VehPose& pose, bool blocking = false);
00062 
00063   
00077   static void interpolate(const VehPose& prev_pose, 
00078                           const VehPose& next_pose, double t,
00079                           VehPose& sensor_pose);
00080 
00081   // declare the standard interface static methods
00082   UTILS_INTF_DECL(VehPoseSource);
00083 };
00084   
00085 #endif

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