landmarkFactory.hpp

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#ifndef LANDMARKFACTORY_HPP_
#define LANDMARKFACTORY_HPP_

#include "rtslam/rtSlam.hpp"

namespace jafar {
namespace rtslam {

  class LandmarkFactoryAbstract
  {
    public:
      virtual landmark_ptr_t createInit(map_ptr_t mapPtr) = 0;
      virtual landmark_ptr_t createConverged(map_ptr_t mapPtr) = 0;
      virtual landmark_ptr_t createConverged(map_ptr_t mapPtr, landmark_ptr_t lmkinit, jblas::ind_array &_icomp) = 0;
      virtual size_t sizeComplement() = 0;
      virtual size_t sizeInit() = 0;
  };
  
  
  template<class LandmarkInit, class LandmarkConverged>
  class LandmarkFactory: public LandmarkFactoryAbstract
  {
    public:
      virtual landmark_ptr_t createInit(map_ptr_t mapPtr) {
        return boost::shared_ptr<LandmarkInit>(new LandmarkInit(mapPtr));
      }
      virtual landmark_ptr_t createConverged(map_ptr_t mapPtr) {
        return boost::shared_ptr<LandmarkConverged>(new LandmarkConverged(mapPtr));
      }
      virtual landmark_ptr_t createConverged(map_ptr_t mapPtr, landmark_ptr_t lmkinit, jblas::ind_array &_icomp) {
        return boost::shared_ptr<LandmarkConverged>(new LandmarkConverged(mapPtr, lmkinit, _icomp));
      }
      virtual size_t sizeInit() {
        return (LandmarkInit::size());
      }
      virtual size_t sizeComplement() {
        return (LandmarkInit::size() - LandmarkConverged::size());
      }
  };

}}

#endif // LANDMARKFACTORY_HPP