Resolve "Subscriber&processor for landmark external detections"

Closes #478 (closed)

include/core/capture/capture_landmarks_external.h

@@ -28,9 +28,10 @@ namespace wolf {
 
 struct LandmarkDetection
 {
+    int id;                      // id of landmark
     Eigen::VectorXd measure;     // either pose or position
     Eigen::MatrixXd covariance;  // covariance of the measure
-    int id;                      // id of landmark
+    double quality;              // [0, 1] quality of the detection
 };
 
 WOLF_PTR_TYPEDEFS(CaptureLandmarksExternal);
@@ -39,21 +40,22 @@ WOLF_PTR_TYPEDEFS(CaptureLandmarksExternal);
 class CaptureLandmarksExternal : public CaptureBase
 {
     protected:
-        std::list<LandmarkDetection> detections_;
+        std::vector<LandmarkDetection> detections_;
 
     public:
 
         CaptureLandmarksExternal(const TimeStamp& _ts, 
                                  SensorBasePtr _sensor_ptr, 
-                                 const std::vector<Eigen::VectorXd>& _detections, 
-                                 const std::vector<Eigen::MatrixXd>& _covs, 
-                                 const std::vector<int>& _ids);
+                                 const std::vector<int>& _ids = {},
+                                 const std::vector<Eigen::VectorXd>& _detections = {}, 
+                                 const std::vector<Eigen::MatrixXd>& _covs = {}, 
+                                 const std::vector<double>& _qualities = {});
 
         ~CaptureLandmarksExternal() override;
 
-        std::list<LandmarkDetection> getDetections() const {return detections_;};
+        std::vector<LandmarkDetection> getDetections() const {return detections_;};
 
-        void addDetection(const Eigen::VectorXd& _detection, const Eigen::MatrixXd& _cov, const int& _id);
+        void addDetection(const int& _id, const Eigen::VectorXd& _detection, const Eigen::MatrixXd& _cov, const double& quality);
 };
 
 } //namespace wolf
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