NodeDescriptor.hpp

/* $Id$ */

#ifndef _SPAFGRAPH_NODE_DESCRIPTOR_HPP_
#define _SPAFGRAPH_NODE_DESCRIPTOR_HPP_

#include <map>
#include <vector>
#include <iostream>

namespace jafar {
  namespace spafgraph {
    class Node;
    class NodeDescriptor;
    std::ostream& operator <<(std::ostream& s, NodeDescriptor const& desc);
    class NodeDescriptor {
      friend std::ostream& operator <<(std::ostream& s, NodeDescriptor const& desc);
      public:
        enum HistogramType {
          InvalidHistogram = 0,
          DistanceHistogram = 1,
          AngleHistogram = 1 << 1,
          TransformationVectorAngleHistogram = 1 << 2,
          OccupancyHistogram = 1 << 4
        };
        static const int AllHistograms = DistanceHistogram | AngleHistogram | TransformationVectorAngleHistogram;
        class Histogram {
            friend class std::map< HistogramType, Histogram >;
            Histogram();
          public:
            Histogram( HistogramType _type, const std::vector< double >& _values);
            HistogramType type() const { return m_type; }
            const std::vector< double >& values() const { return m_values; }
            double mean() const { return m_mean; }
            double stdDev() const { return m_stdDev; }
          private:
            HistogramType m_type;
            std::vector< double > m_values;
            double m_mean, m_stdDev;
        };
      public:
        NodeDescriptor(const Node* _node, int histograms = AllHistograms);
        ~NodeDescriptor();
        
        const Histogram* histogram(HistogramType _histo) const;
        double comparison(const NodeDescriptor& _nodeDescriptor, int histograms = AllHistograms);
        
        bool haveHistogram(HistogramType type);
        
        static void setDistanceHistogramParameters( int bins, double binLength );
        static void setAngleHistogramParameters( int bins );
        static void setTransformationVectorAngleHistogram( int bins );
        static void setOccupancyHistogramParameters( int bins, double binLength );
      private:
        const Node* m_node;
        std::map< HistogramType, Histogram > m_histos;
        int m_histogramTypes;
    };
  }
}

#endif