MapBasedHexagonSpaceSampler.hpp

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#pragma once

#include <boost/foreach.hpp>
#include "next_best_view/helper/MapHelper.hpp"
#include "next_best_view/space_sampler/SpaceSampler.hpp"

namespace next_best_view {
        class MapBasedHexagonSpaceSampler : public SpaceSampler {
        private:
                MapHelperPtr mMapHelperPtr;
        DebugHelperPtr mDebugHelperPtr;
                double mHexagonRadius;
        public:
                MapBasedHexagonSpaceSampler(const MapHelperPtr &mapHelperPtr);

                virtual ~MapBasedHexagonSpaceSampler();

                SamplePointCloudPtr getSampledSpacePointCloud(SimpleVector3 currentSpacePosition = SimpleVector3(), float contractor = 1.0);

                void setHexagonRadius(double radius);

                double getHexagonRadius();
        };

        typedef boost::shared_ptr<MapBasedHexagonSpaceSampler> MapBasedHexagonSpaceSamplerPtr;
}