text: #ifndef _FEATURE_TRACKER_H_
  #define _FEATURE_TRACKER_H_
  
  #include "Core/Module.h"
  #include "Eigen/Eigen"
  #include "Core/Utils/Math.h"
  #include "Core/Utils/RelativeCoord.h"
  #include "Core/Utils/CartesianCoord.h"
  
  class FeatureTracker : public InnerModule
  {
      private:
          // Declare aqui as variáveis globais do módulo
      public:
          FeatureTracker(SpellBook *spellBook);
          ~FeatureTracker();
  
          void OnStart();
          void OnStop();
          void Tick(float ellapsedTime, const SensorValues &sensor);
  };
  
  #endif