monocam_settler.h

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#ifndef MONOCAM_SETTLER_MONOCAM_SETTLER_H_
#define MONOCAM_SETTLER_MONOCAM_SETTLER_H_

#include <boost/shared_ptr.hpp>
#include <calibration_msgs/CalibrationPattern.h>
#include <calibration_msgs/Interval.h>

#include <settlerlib/sorted_deque.h>
#include <settlerlib/deflated.h>

#include <monocam_settler/ConfigGoal.h>

namespace monocam_settler
{

class DeflatedCalibrationPattern : public settlerlib::Deflated
{
public:
  calibration_msgs::CalibrationPatternConstPtr msg_;
};


class MonocamSettler
{
public:
  MonocamSettler();
  bool configure(const monocam_settler::ConfigGoal& goal);

  bool add(const calibration_msgs::CalibrationPatternConstPtr msg,
           calibration_msgs::Interval& interval);

private:
  bool configured_;
  double tol_;
  ros::Duration max_step_;
  bool ignore_failures_;

  void deflate(const calibration_msgs::CalibrationPatternConstPtr& image_features,
               DeflatedCalibrationPattern& deflated);

  typedef settlerlib::SortedDeque< boost::shared_ptr<const DeflatedCalibrationPattern> > DeflatedMsgCache;
  typedef settlerlib::SortedDeque<settlerlib::DeflatedConstPtr> DeflatedCache;
  DeflatedMsgCache cache_;
};

}

#endif