VoteSpecifier.hpp

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#pragma once

#include "Object.hpp"
#include "Quaternion.hpp"
#include <boost/shared_ptr.hpp>
#include <string>

namespace ISM {
  
    struct VoteSpecifier
    {
        QuaternionPtr objectToRefQuat;
        QuaternionPtr objectToRefPoseQuat;
        QuaternionPtr refToObjectQuat;
        QuaternionPtr refToObjectPoseQuat;
        double radius;
        std::string patternName;
        std::string objectType;
        std::string observedId;
        int trackIndex;
        uint32_t weight;

        VoteSpecifier( const VoteSpecifier& other ) : radius(other.radius), patternName(other.patternName),
                                                      objectType(other.objectType), observedId(other.observedId),
                                                      trackIndex(other.trackIndex)
        {
            objectToRefQuat = QuaternionPtr(new Quaternion(*(other.objectToRefQuat)));
            objectToRefPoseQuat = QuaternionPtr(new Quaternion(*(other.objectToRefPoseQuat)));
            refToObjectQuat = QuaternionPtr(new Quaternion(*(other.refToObjectQuat)));
            refToObjectPoseQuat = QuaternionPtr(new Quaternion(*(other.refToObjectPoseQuat)));
            }

        VoteSpecifier( QuaternionPtr objectToRefQuat, QuaternionPtr objectToRefPoseQuat,
                       QuaternionPtr refToObjectQuat, QuaternionPtr refToObjectPoseQuat,
                       double radius ) : objectToRefQuat(objectToRefQuat), objectToRefPoseQuat(objectToRefPoseQuat),
                                         refToObjectQuat(refToObjectQuat), refToObjectPoseQuat(refToObjectPoseQuat),
                                         radius(radius)
        {
            this->trackIndex = -1;
        };

        VoteSpecifier( QuaternionPtr objectToRefQuat, QuaternionPtr objectToRefPoseQuat,
                       QuaternionPtr refToObjectQuat, QuaternionPtr refToObjectPoseQuat,
                       double radius, std::string patternName,std::string objectType,
                       std::string observedId, int trackIndex = -1) : objectToRefQuat(objectToRefQuat), objectToRefPoseQuat(objectToRefPoseQuat),
                                                  refToObjectQuat(refToObjectQuat), refToObjectPoseQuat(refToObjectPoseQuat),
                                                  radius(radius), patternName(patternName), objectType(objectType), observedId(observedId),
                                                  trackIndex(trackIndex)
        {};
    };
    typedef boost::shared_ptr<VoteSpecifier> VoteSpecifierPtr;

    std::ostream& operator<<(std::ostream &strm, const ISM::VoteSpecifier &v);
    std::ostream& operator<<(std::ostream &strm, const ISM::VoteSpecifierPtr &v);
}