ba.h

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#ifndef GCOP_BA_H
#define GCOP_BA_H

#include <eigen3/Eigen/Dense>
#include <vector>
#include <type_traits>
#include <algorithm>
#include <iterator>
#include "pddp.h"
#include "bacost.h"
#include "kinbody2d.h"
#include "posegraph2d.h"

namespace gcop {
  
  using namespace Eigen;
  
  class Ba {
  public:
    
    Ba(Posegraph2d &pg);
    
    Posegraph2d &pg;   
    
    Kinbody2d sys;     

    BaCost cost;       
    
    PDdp<Matrix3d, 3, 3> pddp;  
  };
}

#endif