ptu_tuple.hpp

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#pragma once

#include <boost/shared_ptr.hpp>
#include "ros/ros.h"
#include <geometry_msgs/Pose.h>
#include <asr_next_best_view/RatedViewport.h>

namespace directSearchWS {

typedef std::vector<std::string> SearchedObjectTypes;
typedef boost::shared_ptr<geometry_msgs::Pose> PosePtr;

class PtuTuple {

private:
    int pan;
    int tilt;
    PosePtr cameraPosePtr;
    int deactivated_object_normals_count;
    SearchedObjectTypes already_searched_object_types;
    asr_next_best_view::RatedViewport ratedViewport;

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

    //Getter
    int getPan() const;

    int getTilt() const;

    SearchedObjectTypes getAlreadySearchedObjectTypes() const;

    void addAlreadySearchedObjectType(std::string newAlreadySearchedObjectType);

    void addAlreadySearchedObjectTypes(const SearchedObjectTypes &newAlreadySearchedObjectTypes);

    void resetAlreadySearchedObjectTypes();

    PosePtr getCameraPosePtr() const;

    int getDeactivatedObjectNormalsCount() const;

    void setRatedViewport(const asr_next_best_view::RatedViewport &newRatedViewport);

    asr_next_best_view::RatedViewport getRatedViewport() const;

};

typedef boost::shared_ptr<PtuTuple> PtuTuplePtr;
typedef std::vector<PtuTuplePtr> PtuTuplePtrVec;
typedef boost::shared_ptr<PtuTuplePtrVec> PtuTuplePtrVecPtr;

std::ostream& operator<<(std::ostream &strm, const SearchedObjectTypes &already_searched_object_types);
std::ostream& operator<<(std::ostream &strm, const PosePtr &pose_ptr);

std::ostream& operator<<(std::ostream &strm, const PtuTuple &ptu_tuple);
std::ostream& operator<<(std::ostream &strm, const PtuTuplePtr &ptu_tuple_ptr);
std::ostream& operator<<(std::ostream &strm, const PtuTuplePtrVec &ptu_tuple_ptr_vec);
std::ostream& operator<<(std::ostream &strm, const PtuTuplePtrVecPtr &ptu_tuple_ptr_vec_ptr);

}