best_path.h

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#ifndef BESTPATHNORMALIZATION_H
#define BESTPATHNORMALIZATION_H

#include "pose_prediction_ism/predictor_with_score.h"
namespace pose_prediction_ism
{
class BestPath: public PredictorWithScore
{
public:
    BestPath(std::string database_filename);
    ~BestPath();
    AttributedPointCloud predictUnfoundPoses(ISM::PosePtr &reference_pose, std::string pattern_name, double percentage_of_records_for_prediction);

private:
    typedef std::map<IsmObject, PathWithScore> BestPathMap;

    /* ----------------- Private members ------------------  */
    BestPathMap best_path_map_;

    /* ----------------- Functions ------------------  */
    void createBestPathMap(std::string type, IsmObjects predecessors);
    void createAttributedPointCloud(ISM::PosePtr reference_pose_ptr, double percentage_of_records_for_prediction);

    double calculatePathScore(IsmObjects path);

    /* ----------------- Debug Functions ------------------  */
    void printBestPaths();
};
typedef SharedPtr<BestPath> BestPathPtr;

}

#endif // BESTPATHNORMALIZATION_H