posegraph2d.h

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#ifndef GCOP_POSEGRAPH2D_H
#define GCOP_POSEGRAPH2D_H

#include <Eigen/Dense>
#include <vector>
#include <type_traits>

namespace gcop {
  
  using namespace std;
  using namespace Eigen;
  
  class Posegraph2d {
  public:
    
    Posegraph2d(int N, int nf);    

    void Optp(VectorXd &p, const vector<Matrix3d> &gs);

    static void Synthesize(Posegraph2d &pgt, Posegraph2d &pgn, double tf);

    static void Synthesize2(Posegraph2d &pgt, Posegraph2d &pgn, double tf);

    
    vector<double> ts;     

    vector<Matrix3d> gs;   

    vector<Vector3d> us;   

    VectorXd p;            

    vector< vector<pair<int, Vector2d> > > Is;  

    vector< vector<pair<int, Vector2d> > > Js;  
        
    double cp;             
  };
}

#endif