Trainer.hpp

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#pragma once

#include <string>
#include <sstream>
#include <vector>
#include <boost/shared_ptr.hpp>
#include "common_type/ObjectSet.hpp"
#include "common_type/Object.hpp"
#include "utility/TableHelper.hpp"
#include "common_type/Pose.hpp"
#include "Heuristic.hpp"
#include "ManuallyDefPseudoHeuristic.hpp"

namespace ISM {

    class Trainer {
        TableHelperPtr tableHelper;
        RecordedPatternPtr recordedPattern;
        PointPtr absoluteReferencePoint;
        int skips;
        bool useClustering;
        bool mUseManualDefHeuristic;
        bool mUsePredefinedRefs;
        std::vector<std::pair<std::vector<ManuallyDefPseudoHeuristic::ClusterObject>, uint16_t>>
            mClusterForManualDefHeuristic;
        std::map<std::string, std::string> mPatternToTypesOfPredefinedRefs;

        public:

      //Some parameters for heuristics used here
      double staticBreakRatio, togetherRatio, maxAngleDeviation;

      void setClusterForManualDefHeuristic(std::vector<std::pair<std::vector<ManuallyDefPseudoHeuristic::ClusterObject>,
                  uint16_t>>);
      void setPredefinedRefs(std::map<std::string, std::string>& refs);

            Trainer(std::string dbfilename = "record.sqlite", bool dropOldModelTables = false);

            void trainPattern();
            void trainPattern(const std::string& patternName);
            void setSkipsPerCycle(const int skips);

            void setUseClustering(const bool useClustering);

        private:
            void learn();
            HeuristicPtr findHeuristicMatch(const TracksPtr& tracks);
            TrackPtr doTraining(const std::vector<ObjectSetPtr> sets, std::string patternName);
    };
  typedef boost::shared_ptr<Trainer> TrainerPtr;
}