Pose.h

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#ifndef HOLISTIC_FUSION_POSE_H
#define HOLISTIC_FUSION_POSE_H
 
#include <Eigen/Eigen>
 
namespace holistic_fusion {

class Pose {
 public:
  Pose() : _position(Eigen::Vector3d(0.0, 0.0, 0.0)), _orientation(Eigen::Vector4d(0.0, 0.0, 0.0, 1.0)), _time(0.0) {}
 
  Pose(Eigen::Vector3d position, double time) : _position(position), _orientation(Eigen::Vector4d(0.0, 0.0, 0.0, 1.0)), _time(time) {}
 
  Pose(Eigen::Vector3d position, Eigen::Vector4d orientation, double time) : _position(position), _orientation(orientation), _time(time) {}
 
  Pose(const Pose& other) : _position(other._position), _orientation(other._orientation), _time(other._time) {}
 
  Eigen::Vector3d position() const { return _position; }
 
  Eigen::Vector4d orientation() const { return _orientation; }
 
  double time() const { return _time; }
 
 private:
  Eigen::Vector3d _position;
  Eigen::Vector4d _orientation;  // xyzw
  double _time;
};
 
}  // namespace holistic_fusion
 
#endif  // HOLISTIC_FUSION_POSE_H