PersistenceModel.h

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#ifndef SPATIAL_TEMPORAL_LEARNING_WORLDLIB_MODEL_PERSISTENCE_MODEL_H_
#define SPATIAL_TEMPORAL_LEARNING_WORLDLIB_MODEL_PERSISTENCE_MODEL_H_

// worldlib
#include "../world/Item.h"
#include "../world/Surface.h"

// ROS
#include <ros/duration.h>
#include <ros/time.h>

// Boost
#include <boost/math/distributions/exponential.hpp>

namespace rail
{
namespace spatial_temporal_learning
{
namespace worldlib
{
namespace model
{

class PersistenceModel
{
public:
  PersistenceModel(const world::Item &item = world::Item(), const world::Surface &surface = world::Surface(),
      const double lambda = 1, const uint32_t count = 0, const ros::Time &last_seen = ros::Time(0));

  const world::Item &getItem() const;

  world::Item &getItem();

  void setItem(const world::Item &item);

  const world::Surface &getSurface() const;

  world::Surface &getSurface();

  void setSurface(const world::Surface &surface);

  double getLambda() const;

  void setLambda(const double lambda);

  ros::Duration getExpectedPersistence() const;

  double getProbabilityItemStillExists(const ros::Time &time = ros::Time::now()) const;

  double getProbabilityItemRemoved(const ros::Time &time = ros::Time::now()) const;

  uint32_t getCount() const;

  void setCount(const uint32_t count);

  const ros::Time &getLastSeen() const;

  ros::Time &getLastSeen();

  void setLastSeen(const ros::Time &last_seen);

private:
  world::Item item_;
  world::Surface surface_;
  boost::math::exponential_distribution<> exponential_;
  uint32_t count_;
  ros::Time last_seen_;
};

}
}
}
}

#endif