rtSlam.hpp

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#ifndef RTSLAM_HPP_
#define RTSLAM_HPP_

#include <sys/time.h> 

#include <map>
#include <list>

#include "boost/shared_ptr.hpp"
#include "boost/weak_ptr.hpp"

#include "kernel/IdFactory.hpp"
#include "kernel/jafarMacro.hpp"

#define STATS 1

#ifdef JFR_NDEBUG
  #define PTR_CAST static_cast
  #define SPTR_CAST boost::static_pointer_cast
#else
  #define PTR_CAST dynamic_cast
  #define SPTR_CAST boost::dynamic_pointer_cast
#endif

namespace jafar {
  namespace kernel {
    template<typename> class IdCollectorNone;
    template<typename> class IdCollectorList;
    template<typename> class IdCollectorSet;
    template<typename, template<typename> class> class IdFactory;
  }

  namespace rtslam {

    extern unsigned int rand_state;
    inline void srand(unsigned int seed)
    {
//      JFR_DEBUG("!rand: seed " << seed);
      rand_state = seed;
    }
    inline int rand()
    {
//      JFR_DEBUG_BEGIN(); JFR_DEBUG_SEND("!rand: state " << rand_state);
      int r = rand_r(&rand_state);
//      JFR_DEBUG_SEND(" value " << r << " state " << rand_state); JFR_DEBUG_END();
      return r;
    }
    

    // forward declarations
    class WorldAbstract;
    class MapAbstract;
    class RobotAbstract;
    class SensorAbstract;
    class SensorExteroAbstract;
    class SensorProprioAbstract;
    class DataManagerAbstract;
    class LandmarkAbstract;
    class LandmarkFactoryAbstract;
    class ObservationModelAbstract;
    class ObservationAbstract;
    class MapManagerAbstract;
    class RawAbstract;
    class AppearanceAbstract;
    class FeatureAbstract;
    class DescriptorAbstract;
    class Gaussian;
    class ExtendedKalmanFilterIndirect;
    class SensorManagerAbstract;
    class HistoryManagerAbstract;

    // Pointers with boost::shared_ptr:
    typedef boost::shared_ptr<WorldAbstract>                          world_ptr_t;
    typedef boost::shared_ptr<MapAbstract>                            map_ptr_t;
    typedef boost::shared_ptr<RobotAbstract>                          robot_ptr_t;
    typedef boost::shared_ptr<SensorAbstract>                         sensor_ptr_t;
    typedef boost::shared_ptr<SensorExteroAbstract>                   sensorext_ptr_t;
    typedef boost::shared_ptr<SensorProprioAbstract>                  sensorprop_ptr_t;
    typedef boost::shared_ptr<DataManagerAbstract>                    data_manager_ptr_t;
    typedef boost::shared_ptr<LandmarkAbstract>                       landmark_ptr_t;
    typedef boost::shared_ptr<LandmarkFactoryAbstract>                landmark_factory_ptr_t;
    typedef boost::shared_ptr<ObservationModelAbstract>               observation_model_ptr_t;
    typedef boost::shared_ptr<ObservationAbstract>                    observation_ptr_t;
    typedef boost::shared_ptr<MapManagerAbstract>                     map_manager_ptr_t;

    typedef boost::shared_ptr<RawAbstract>                            raw_ptr_t;
    typedef boost::shared_ptr<AppearanceAbstract>                     appearance_ptr_t;
    typedef boost::shared_ptr<FeatureAbstract>                        feature_ptr_t;
    typedef boost::shared_ptr<DescriptorAbstract>                     descriptor_ptr_t;

    typedef boost::shared_ptr<Gaussian>                               gaussian_ptr_t;

    typedef boost::shared_ptr<ExtendedKalmanFilterIndirect>           ekfInd_ptr_t;
    typedef boost::shared_ptr<SensorManagerAbstract>                  sensor_manager_ptr_t;

    typedef boost::shared_ptr<HistoryManagerAbstract>                 history_manager_ptr_t;

    typedef kernel::IdFactory<unsigned int, kernel::IdCollectorNone>  IdFactory; // FIXME maybe we should change for a smarter IdFactory ? eg:
    //typedef kernel::IdFactory<unsigned, kernel::IdCollectorList> IdFactory;
    //typedef kernel::IdFactory<unsigned, kernel::IdCollectorSet> IdFactory;
  }
}

#endif /* RTSLAM_HPP_ */