shortest_path.h

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#ifndef SHORTESTPATHNORMALIZATION_H
#define SHORTESTPATHNORMALIZATION_H

#include "pose_prediction_ism/pose_predictor.h"
namespace pose_prediction_ism
{
class ShortestPath : public PosePredictor
{
public:
    ShortestPath(std::string database_filename);
    ~ShortestPath();

    AttributedPointCloud predictUnfoundPoses(ISM::PosePtr &reference_pose, std::string pattern_name, double percentage_of_records_for_prediction);
private:
    typedef std::map<IsmObject , IsmObjects> ShortestPathMap;

    /* ----------------- Private members ------------------  */
    ShortestPathMap shortest_path_map_;

    /* ----specifiers_size_map_ctions ------------------  */
    void createShortestPathMap(std::string type, IsmObjects paths);
    void createAttributedPointCloud(ISM::PosePtr reference_pose_ptr, double percentage_of_records_for_prediction);

    /* ----------------- Debug Functions ------------------  */
    void printShortestPaths();

};
typedef SharedPtr<ShortestPath> ShortestPathPtr;
}


#endif // SHORTESTPATHNORMALIZATION_H