simple_tracker.h

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#pragma once
#include "uav_vision_system_config.pb.h"
#include <aerial_autonomy/trackers/base_tracker.h>
#include <parsernode/parser.h>
#include <tf/tf.h>

class SimpleTracker : public BaseTracker {
public:
  SimpleTracker(parsernode::Parser &drone_hardware,
                tf::Transform camera_transform);
  virtual bool getTrackingVectors(std::unordered_map<uint32_t, Position> &pos);
  virtual bool trackingIsValid();

  void setTrackingIsValid(bool is_valid);

  void setTargetPositionGlobalFrame(Position p);

  tf::Transform cameraTransform();

private:
  parsernode::Parser &drone_hardware_; 
  bool tracking_valid_;                
  Position target_position_;           
  tf::Transform camera_transform_;     
};