body2dslam.h

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#ifndef GCOP_BODY2DSLAM_H
#define GCOP_BODY2DSLAM_H

#include <Eigen/Dense>
#include <vector>
#include <type_traits>
#include <algorithm>
#include <iterator>
#include "pddp.h"
#include "body2dslamcost.h"
#include "body2dgraph.h"

namespace gcop {
  
  using namespace Eigen;
  
  class Body2dSlam {
  public:
    
    Body2dSlam(Body2dGraph &pg);
    
    Body2dGraph &pg;   
    
    Body2dSlamCost cost;       
    
    PDdp<Body2dState, 6, 3> *pddp;  
  };
}

#endif