recording_manager.hpp

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#pragma once

#include <direct_search_manager.hpp>

#include <helper/sort_helper.hpp>
#include "filter/filter_minimum_number_of_deleted_normals.hpp"
#include "filter/filter_is_position_allowed.hpp"


namespace directSearchWS {

class RecordingManager : public DirectSearchManager {

private:
    std::string recordFilePath;

    int filterMinimumNumberOfDeletedNormalsParam;
    bool filterIsPositionAllowedParam;
    bool concatApproxEqualsPosesParam;
    bool reorderPosesByTSPParam;

    double concatRobotPosePositionDistanceThreshold;
    double concatRobotPoseOrientationRadDistanceThreshold;

    SortHelperPtr sortHelperPtr;


public:
    RecordingManager(std::string recordFilePath);
    virtual ~RecordingManager();

    bool initHandler();
    bool resetHandler();
    bool getNextRobotState(const SearchedObjectTypesAndIds &searchedObjectTypesAndIds);
    bool backToInitial(const SearchedObjectTypesAndIds &searchedObjectTypesAndIds);

};

}