random_path.h

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#ifndef RANDOMPATHNORMALIZATION_H
#define RANDOMPATHNORMALIZATION_H

#include "pose_prediction_ism/predictor_with_score.h"

namespace pose_prediction_ism
{
class RandomPath: public PredictorWithScore
{
public:
    RandomPath(std::string database_filename);
    ~RandomPath();
    AttributedPointCloud predictUnfoundPoses(ISM::PosePtr &reference_pose, std::string pattern_name, double percentage_of_records_for_prediction);

private:
    typedef std::vector<double> Slots;
    typedef std::map<IsmObject ,  Slots> SlotsMap;
    typedef std::vector<PathWithScore> PathsWithScores;
    typedef std::map<IsmObject , PathsWithScores> PathsWithScoresMap;

    /* ----------------- Private members ------------------  */
    PathsWithScoresMap paths_with_scores_map_;
    SlotsMap slots_map_;

    /* ----------------- Functions ------------------  */
    void createPathsWithScoresMap(std::string type, IsmObjects predecessors);
    void createAttributedPointCloud(ISM::PosePtr reference_pose_ptr, double percentage_of_records_for_prediction);
    void createSlotsMap();
    double calculatePathScore(IsmObjects path);
};
typedef SharedPtr<RandomPath> RandomPathPtr;

}



#endif // RANDOMPATHNORMALIZATION_H