From 6b0a0fc8ebdf287481df234656c819156a31cbee Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 25 Jun 2022 00:45:00 +0200
Subject: [PATCH] New class StatePolylinePoint2d
---
.../state_block/state_polyline_point_2d.h | 28 +++++++++++++++++++
1 file changed, 28 insertions(+)
create mode 100644 include/laser/state_block/state_polyline_point_2d.h
diff --git a/include/laser/state_block/state_polyline_point_2d.h b/include/laser/state_block/state_polyline_point_2d.h
new file mode 100644
index 000000000..0088aaf4e
--- /dev/null
+++ b/include/laser/state_block/state_polyline_point_2d.h
@@ -0,0 +1,28 @@
+#include "laser/state_block/local_parametrization_polyline_extreme.h"
+
+#include <core/state_block/state_block_derived.h>
+
+namespace wolf
+{
+
+class StatePolylinePoint2d : public StatePoint2d
+{
+ public:
+ StatePolylinePoint2d(const Vector2d &_point,
+ StateBlockPtr _adjacent = nullptr,
+ bool _fixed = false,
+ bool _transformable = true);
+
+ ~StatePolylinePoint2d() {}
+};
+
+inline StatePolylinePoint2d::StatePolylinePoint2d(const Vector2d &_point,
+ StateBlockPtr _reference_point,
+ bool _fixed,
+ bool _transformable)
+ : StatePoint2d(_point, _fixed, _transformable)
+{
+ if (_reference_point) local_param_ptr_ = std::make_shared<LocalParametrizationPolylineExtreme>(_reference_point);
+}
+
+} // namespace wolf
\ No newline at end of file
--
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