cob_3d_mapping_slam: node.h Source File

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00001 
00059 /*
00060  * node.h
00061  *
00062  *  Created on: 26.05.2012
00063  *      Author: josh
00064  */
00065 
00066 #ifndef NODE_H_
00067 #define NODE_H_
00068 
00069 
00070 #include "way.h"
00071 #include "../curved_polygons/bb.h"
00072 
00073 namespace Slam
00074 {
00075 
00082   //template<typename DATA, typename LINK>
00083   template<typename OBJECT_CONTEXT>
00084   class Node
00085   {
00086   public:
00087     typedef typename OBJECT_CONTEXT::DOF6 DOF6;
00088     typedef OBJECT_CONTEXT OBJCTXT;
00089     typedef typename OBJCTXT::OBJECT OBJECT;
00090 
00091     typedef boost::shared_ptr<Node> Ptr;
00092 
00093   private:
00094 
00095     std::vector<SWAY<Node> > connections_;      
00096     OBJCTXT ctxt_;                              
00097 
00098     bool _register(const OBJCTXT &ctxt, DOF6 &link, std::map<typename OBJECT::Ptr,bool> &used, std::map<const Node*,bool> &_visited_list_, const bool only_merge=false, const int depth=0);
00099     void _merge(const OBJCTXT &ctxt, const DOF6 &link, std::map<typename OBJECT::Ptr,bool> &used, std::map<const Node*,bool> &_visited_list_, const bool only_merge=false, const int depth=0);
00100 
00101   public:
00102 
00103     void addLink(const SWAY<Node> &con) {
00104       connections_.push_back(con);
00105     }
00106 
00107     bool registration(const OBJCTXT &ctxt, DOF6 &tf, typename DOF6::TYPE &probability_success_rate, typename DOF6::TYPE &probability_error_rate);
00108     bool merge(const OBJCTXT &ctxt, const DOF6 &tf, std::map<typename OBJECT::Ptr,bool> &used, const BoundingBox::TransformedFoVBB &fov, const bool only_merge);
00109 
00110     bool addCtxt(const OBJCTXT &ctxt, const DOF6 &tf);
00111 
00112     size_t getNumObjs() const {return ctxt_.getNumObjs();}
00113 
00114     const std::vector<SWAY<Node> > &getConnections() const {return connections_;}
00115 
00116     const OBJECT_CONTEXT &getContext() const {return ctxt_;}
00117 
00118     bool compute(const OBJCTXT &ctxt, DOF6 &link, std::map<typename OBJECT::Ptr,bool> &used, std::map<const Node*,bool> &_visited_list_, const bool only_merge=false, const int depth=0);
00119   };
00120 
00121 #include "impl/node.hpp"
00122 
00123 }
00124 
00125 
00126 #endif /* NODE_H_ */