MapBasedHexagonSpaceSamplerFactory.hpp

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#pragma once

#include "next_best_view/helper/MapHelper.hpp"
#include "next_best_view/space_sampler/impl/MapBasedHexagonSpaceSampler.hpp"
#include "next_best_view/space_sampler/SpaceSamplerAbstractFactory.hpp"

namespace next_best_view {

    class MapBasedHexagonSpaceSamplerFactory : public SpaceSamplerAbstractFactory {
    private:
        MapHelperPtr mMapHelperPtr;
        double mRadius;

    public:
        MapBasedHexagonSpaceSamplerFactory(MapHelperPtr mapHelper, double radius)
            : mMapHelperPtr(mapHelper),
              mRadius(radius)
        { }

        SpaceSamplerPtr createSpaceSampler() {
            MapBasedHexagonSpaceSamplerPtr mapBasedHexagonSpaceSampler = MapBasedHexagonSpaceSamplerPtr(new MapBasedHexagonSpaceSampler(mMapHelperPtr));
            mapBasedHexagonSpaceSampler->setHexagonRadius(mRadius);
            return mapBasedHexagonSpaceSampler;
        }
    };
    typedef boost::shared_ptr<MapBasedHexagonSpaceSamplerFactory> MapBasedHexagonSpaceSamplerFactoryPtr;
}