facetsMap.hpp

#ifndef _FACETS_MAP_HPP_
#define _FACETS_MAP_HPP_

#include <vector>

#include "facetsmap/facetsanalyser.hpp"

namespace jafar {
  namespace facetsmap {
    class FacetsTracker;
    struct FacetObservation {
      int id;
      jblas::vec observation;
    };
    class FacetsMap : public FacetsAnalyser {
      public: // constructor
      public:
        FacetsMap( const FacetsParams* params, const jafar::camera::StereoBench& stereoBench);
        virtual ~FacetsMap() {};
      public: // save and load
        virtual void processImage(jblas::mat44& robotpos, jblas::mat44& robotmovement, const boost::numeric::ublas::bounded_matrix<double,4,4>& leftToRight, const jafar::image::Image& imgl, const jafar::image::Image& imgr, const jafar::camera::StereoBench& stereoBench, int time, bool updateFacet, std::map<int, jblas::vec > predictions);
      public:
        inline const std::vector<int>& suppressedAmers() const
        { return m_suppressedAmers; }
        inline const std::vector<FacetObservation>& newObservations() const
        { return m_newObservations; };
        inline const std::vector<FacetObservation>& observations() const
        { return m_observations; };
        void removeFacet( unsigned int id );
      private:
        std::vector<int> m_suppressedAmers;
        std::vector<FacetObservation> m_newObservations, m_observations;
        vFacets m_facetsSeenLastTime;
        vFacets m_facets;
        FacetsTracker* m_facetsTracker;
    };
  };
};


#endif