observation_layer.h

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#ifndef _OBSERVATION_LAYER_H_
#define _OBSERVATION_LAYER_H_

#include <string>

#include <ros/ros.h>

#include <predicate_manager/predicate_manager.h>
#include <predicate_manager/EventInfoMap.h>
#include <predicate_manager/EventUpdate.h>
#include <mdm_library/FactoredSymbolMetadata.h>
#include <mdm_library/observation_dep.h>



namespace mdm_library
{
class ObservationLayer
{
public:
    typedef std::pair< size_t, uint32_t > ObsValuePair; 

    ObservationLayer();

    void eventUpdatesCallback ( const predicate_manager::EventUpdateConstPtr& msg );

    void eventMapCallback ( const predicate_manager::EventInfoMapConstPtr& msg );

    void observationMetadataCallback ( const mdm_library::FactoredSymbolMetadataConstPtr& msg );

    void addObservationFactor ( ObservationDep deps );

private:

    void publishJointObservation();

    void updateWorldSymbol ( const uint32_t& factor );

    ros::NodeHandle nh_;

    ros::Subscriber event_map_sub_;
    ros::Subscriber event_update_sub_;

    ros::Subscriber observation_metadata_sub_;
    ros::Publisher observation_pub_;

    boost::unordered_map< predicate_manager::NameID, ObsValuePair > event_named_local_observer_;
    std::map< std::string, ObsValuePair > event_named_global_observer_;

    boost::unordered_map< predicate_manager::NrID,
          ObsValuePair,
          predicate_manager::cantor_pair_hash > event_nr_observer_;

    std::vector< ObservationDep > factored_observations_deps_;
    std::vector< uint32_t > factored_observations_;
};
}

#endif