DefaultRatingModuleFactory.hpp

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#pragma once

#include "next_best_view/camera_model_filter/CameraModelFilterAbstractFactory.hpp"
#include <robot_model_services/robot_model/RobotModelAbstractFactory.hpp>
#include "next_best_view/rating/impl/DefaultRatingModule.hpp"
#include "next_best_view/rating/RatingModuleAbstractFactory.hpp"
#include "next_best_view/helper/MapHelper.hpp"

namespace next_best_view {

    class DefaultRatingModuleFactory : public RatingModuleAbstractFactory {
    private:
        double mFovx, mFovy;
        double mFcp, mNcp;
        double mUseTargetRobotState;
        robot_model_services::RobotModelAbstractFactoryPtr mRobotModelFactoryPtr;
        CameraModelFilterAbstractFactoryPtr mCameraModelFilterFactoryPtr;
        MapHelperPtr mMapHelperPtr;
        double mAngleThreshold;
        double mOmegaUtility, mOmegaPan, mOmegaTilt;
        double mOmegaRot, mOmegaBase, mOmegaRecognizer;
        bool mUseOrientationUtility, mUseProximityUtility, mUseSideUtility;

    public:
        DefaultRatingModuleFactory(double fovx, double fovy,
                                   double fcp, double ncp,
                                   double useTargetRobotState,
                                   robot_model_services::RobotModelAbstractFactoryPtr robotModelFactory, CameraModelFilterAbstractFactoryPtr cameraModelFilterFactory,
                                   MapHelperPtr mapHelper,
                                   double angleThreshold,
                                   double omegaUtility, double omegaPan, double omegaTilt,
                                   double omegaRot, double omegaBase, double omegaRecognizer,
                                   bool useOrientationUtility, bool useProximityUtility, bool useSideUtility)
            : mFovx(fovx), mFovy(fovy),
              mFcp(fcp), mNcp(ncp),
              mUseTargetRobotState(useTargetRobotState),
              mRobotModelFactoryPtr(robotModelFactory), mCameraModelFilterFactoryPtr(cameraModelFilterFactory),
              mMapHelperPtr(mapHelper),
              mAngleThreshold(angleThreshold),
              mOmegaUtility(omegaUtility), mOmegaPan(omegaPan), mOmegaTilt(omegaTilt),
              mOmegaRot(omegaRot), mOmegaBase(omegaBase), mOmegaRecognizer(omegaRecognizer),
              mUseOrientationUtility(useOrientationUtility), mUseProximityUtility(useProximityUtility), mUseSideUtility(useSideUtility)
        { }

        RatingModulePtr createRatingModule() {
            DefaultRatingModulePtr defaultRatingModule = DefaultRatingModulePtr(new DefaultRatingModule(mFovx, mFovy, mFcp, mNcp, mUseTargetRobotState, mRobotModelFactoryPtr->createRobotModel(), mMapHelperPtr, mCameraModelFilterFactoryPtr->createCameraModelFilter()));
            defaultRatingModule->setNormalAngleThreshold(mAngleThreshold);
            defaultRatingModule->setOmegaParameters(mOmegaUtility, mOmegaPan, mOmegaTilt, mOmegaRot, mOmegaBase, mOmegaRecognizer);
            defaultRatingModule->setUtilityParameters(mUseOrientationUtility, mUseProximityUtility, mUseSideUtility);
            return defaultRatingModule;
        }
    };
    typedef boost::shared_ptr<DefaultRatingModuleFactory> DefaultRatingModuleFactoryPtr;
}