infosVision.h

#ifndef INFOSVISION_H
#define INFOSVISION_H

#include "../../support/header/defines.h"
#include <Eigen/Core>

struct TransformsVisio {

  Eigen::Matrix4d wTgoalVeh_eigen; //goal for vehicle

  Eigen::Matrix4d wTt_eigen; //tool in the world
  Eigen::Matrix4d wTh_eigen; //hole in the world
  Eigen::Matrix4d wTh_estimated_eigen; //estimated position of the hole

};

struct RobotVisioState {

  Eigen::Matrix4d wTv_eigen; //world to vehicle

};

struct RobotVisioStruct {

 Eigen::Matrix4d  vTcameraL; //transformation between vehicle and camera Left (so, a fixed one)
 Eigen::Matrix4d  vTcameraR;
 Eigen::Matrix4d  cLTcR; //from camera left to camera right, redundant but useful?? NOT USED NOW
 Eigen::Matrix4d  cRTcL; //from camera right to camera left, redundant but useful for stereo
 Eigen::Matrix4d  vTcameraRangeR; // camera Range (depth camera)
 Eigen::Matrix4d  cRangeRTcL;


};


struct InfosVision {
  RobotVisioStruct robotStruct;
  RobotVisioState robotState;
  TransformsVisio transforms;
};

#endif // INFOSVISION_H