recognition_probability_computer.h
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00034 
00035 // Author(s): Peter Brook
00036 
00037 #ifndef RECOGNITION_PROBABILITY_COMPUTER
00038 #define RECOGNITION_PROBABILITY_COMPUTER
00039 
00040 #include <map>
00041 #include <vector>
00042 
00043 #include <object_manipulation_msgs/GraspableObject.h>
00044 #include "probabilistic_grasp_planner/probabilistic_planner_tools.h"
00045 
00046 namespace probabilistic_grasp_planner {
00047 
00049 class RecognitionProbabilityComputer
00050 {
00051 public:
00057   virtual void computeRepresentationProbabilities(std::vector<ObjectRepresentation> &objects) = 0;
00058   
00059 };
00060 typedef boost::shared_ptr<RecognitionProbabilityComputer> RecognitionProbabilityComputerPtr;
00061 
00063 class TopHitProbabilityComputer : public RecognitionProbabilityComputer
00064 {
00065 private:
00067   int top_hit_model_id_;
00068 
00069 public:
00070   void computeRepresentationProbabilities(std::vector<ObjectRepresentation> &objects);
00071 
00072 };
00073 
00075 class CompositeProbabilityComputer : public RecognitionProbabilityComputer
00076 {
00077 protected:
00079   double recognition_threshold_;
00080 
00082   bool db_only_;
00085   virtual double getProbabilityForRecognitionScore(const double &score);
00086 
00087 public:
00088   CompositeProbabilityComputer(bool db_only) :
00089     db_only_(db_only)
00090   {
00091 
00092   }
00093 
00094   virtual void computeRepresentationProbabilities(std::vector<ObjectRepresentation> &objects);
00095 };
00096 
00097 class InverseCurveRecognitionProbabilityComputer : public CompositeProbabilityComputer
00098 {
00099 private:
00101   double curvature_;
00102 
00103 protected:
00107   virtual double getProbabilityForRecognitionScore(const double &score);
00108 public:
00109   InverseCurveRecognitionProbabilityComputer(double recognition_threshold, double curvature, bool db_only) :
00110     CompositeProbabilityComputer(db_only), curvature_(curvature)
00111   {
00112 
00113   }
00114 };
00115 
00131 class LearnedProbabilityComputer : public RecognitionProbabilityComputer
00132 {
00133 private:
00134   enum Cases {CLUSTER_ONLY,CLUSTER_DB,DB_ONLY,DB_MULTIPLE,CLUSTER_DB_MULTIPLE};
00135 public:
00136   LearnedProbabilityComputer()
00137   {
00138 
00139   }
00140 
00141   virtual void computeRepresentationProbabilities(std::vector<ObjectRepresentation> &objects);
00142 };
00143 
00144 }
00145 
00146  //namespace
00147 
00148 #endif
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probabilistic_grasp_planner
Author(s): Peter Brook
autogenerated on Fri Jan 25 2013 15:03:22