base_tracker.h

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#pragma once
#include "aerial_autonomy/trackers/tracking_strategy.h"
#include "aerial_autonomy/types/position.h"

#include <memory>
#include <tuple>
#include <unordered_map>

class BaseTracker {
public:
  BaseTracker(TrackingStrategy *tracking_strategy)
      : tracking_strategy_(tracking_strategy) {}
  virtual bool initialize();
  virtual bool getTrackingVector(Position &pos);
  virtual bool getTrackingVector(std::tuple<uint32_t, Position> &pos);
  virtual bool
  getTrackingVectors(std::unordered_map<uint32_t, Position> &pos) = 0;
  virtual bool trackingIsValid() = 0;

private:
  std::unique_ptr<TrackingStrategy> tracking_strategy_;
};