mola_kernel: add C++ virtual interface for relocalization methods

mola_kernel/include/mola_kernel/interfaces/Relocalization.h

@@ -0,0 +1,45 @@
+/* -------------------------------------------------------------------------
+ *   A Modular Optimization framework for Localization and mApping  (MOLA)
+ * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
+ * See LICENSE for license information.
+ * ------------------------------------------------------------------------- */
+/**
+ * @file   Relocalization.h
+ * @brief  Virtual interface for relocalization offered by MOLA modules
+ * @author Jose Luis Blanco Claraco
+ * @date   Jul 29, 2024
+ */
+#pragma once
+
+#include <mrpt/poses/CPose3D.h>
+#include <mrpt/poses/CPose3DPDFGaussian.h>
+
+namespace mola
+{
+/** Virtual interface for relocalization offered by MOLA modules
+ * \ingroup mola_kernel_grp */
+class Relocalization
+{
+   public:
+    Relocalization();
+    virtual ~Relocalization();
+
+    /** @name Virtual interface of Relocalization
+     *{ */
+
+    /** Re-localize near this pose, including uncetainty.
+     *  \param[in] pose The pose, in the local map frame.
+     *  There is no return value from this method.
+     */
+    virtual void relocalize_near_pose_pdf(
+        const mrpt::poses::CPose3DPDFGaussian& p) = 0;
+
+    /** Re-localize with the next incoming GNSS message.
+     *  There is no return value from this method.
+     */
+    virtual void relocalize_from_gnss() = 0;
+
+    /** @} */
+};
+
+}  // namespace mola

mola_kernel/src/interfaces/Relocalization.cpp

@@ -0,0 +1,19 @@
+/* -------------------------------------------------------------------------
+ *   A Modular Optimization framework for Localization and mApping  (MOLA)
+ * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
+ * See LICENSE for license information.
+ * ------------------------------------------------------------------------- */
+/**
+ * @file   Relocalization.cpp
+ * @brief  Virtual interface for relocalization offered by MOLA modules
+ * @author Jose Luis Blanco Claraco
+ * @date   Jul 29, 2024
+ */
+
+#include <mola_kernel/interfaces/Relocalization.h>
+
+namespace mola
+{
+Relocalization::Relocalization()  = default;
+Relocalization::~Relocalization() = default;
+}  // namespace mola