ptu_tuple.cpp

Go to the documentation of this file.

#include <model/ptu_tuple.hpp>

namespace directSearchWS {

PtuTuple::PtuTuple(int pan, int tilt, PosePtr cameraPosePtr) : PtuTuple(pan, tilt, cameraPosePtr, -1) {
}

PtuTuple::PtuTuple(int pan, int tilt, PosePtr cameraPosePtr, int deactivated_object_normals_count) :
    PtuTuple(pan, tilt, cameraPosePtr, deactivated_object_normals_count, SearchedObjectTypes()) {
}

PtuTuple::PtuTuple(int pan, int tilt, PosePtr cameraPosePtr, int deactivated_object_normals_count, SearchedObjectTypes already_searched_object_types) :
    PtuTuple(pan, tilt, cameraPosePtr, deactivated_object_normals_count, already_searched_object_types, asr_next_best_view::RatedViewport()){
}

PtuTuple::PtuTuple(int pan, int tilt, PosePtr cameraPosePtr, int deactivated_object_normals_count, SearchedObjectTypes already_searched_object_types,
    asr_next_best_view::RatedViewport ratedViewport) : pan(pan), tilt(tilt), cameraPosePtr(cameraPosePtr), deactivated_object_normals_count(deactivated_object_normals_count),
    already_searched_object_types(already_searched_object_types), ratedViewport(ratedViewport) {
}


int PtuTuple::getPan() const {
    return pan;
}

int PtuTuple::getTilt() const {
    return tilt;
}

SearchedObjectTypes PtuTuple::getAlreadySearchedObjectTypes() const {
    return already_searched_object_types;
}

void PtuTuple::addAlreadySearchedObjectType(std::string newAlreadySearchedObjectType) {
    if (std::find(already_searched_object_types.begin(), already_searched_object_types.end(), newAlreadySearchedObjectType) == already_searched_object_types.end()) {
        already_searched_object_types.push_back(newAlreadySearchedObjectType);
    }
}

void PtuTuple::addAlreadySearchedObjectTypes(const SearchedObjectTypes &newAlreadySearchedObjectTypes) {
    for (const std::string &newSearchedObjectType : newAlreadySearchedObjectTypes) {
        addAlreadySearchedObjectType(newSearchedObjectType);
    }
}

void PtuTuple::resetAlreadySearchedObjectTypes() {
    already_searched_object_types.clear();
}

PosePtr PtuTuple::getCameraPosePtr() const {
    return cameraPosePtr;
}

int PtuTuple::getDeactivatedObjectNormalsCount() const {
    return deactivated_object_normals_count;
}

void PtuTuple::setRatedViewport(const asr_next_best_view::RatedViewport &newRatedViewport) {
    ratedViewport = newRatedViewport;
}

asr_next_best_view::RatedViewport PtuTuple::getRatedViewport() const {
    return ratedViewport;
}


std::ostream& operator<<(std::ostream &strm, const PosePtr &pose_ptr) {
    return strm << *pose_ptr;
}

std::ostream& operator<<(std::ostream &strm, const SearchedObjectTypes &already_searched_object_types) {
    strm << "(already) searched object types:";
    for (const std::string &object_type : already_searched_object_types) {
        strm << " " << object_type;
    }
    strm << '\n';
    return strm;
}


std::ostream& operator<<(std::ostream &strm, const PtuTuple &ptu_tuple) {
    strm << "PTU tuple:\n";
    strm << "pan: " << ptu_tuple.getPan() << " tilt: " << ptu_tuple.getTilt() << '\n';
    strm << ptu_tuple.getAlreadySearchedObjectTypes();
    strm << "CameraPose:\n" << ptu_tuple.getCameraPosePtr();
    strm << "DeactivatedObjectNormalsCount: " << ptu_tuple.getDeactivatedObjectNormalsCount() << '\n';
    strm << "RatedViewport: " << ptu_tuple.getRatedViewport();
    return strm;
}

std::ostream& operator<<(std::ostream &strm, const PtuTuplePtr &ptu_tuple_ptr) {
    return strm << *ptu_tuple_ptr;
}

std::ostream& operator<<(std::ostream &strm, const PtuTuplePtrVec &ptu_tuple_ptr_vec) {
    for (const PtuTuplePtr &ptu_tuple_ptr : ptu_tuple_ptr_vec) {
        strm << ptu_tuple_ptr;
    }
    return strm;
}

std::ostream& operator<<(std::ostream &strm, const PtuTuplePtrVecPtr &ptu_tuple_ptr_vec_ptr) {
    return strm << *ptu_tuple_ptr_vec_ptr;
}
}