PerspectiveHypothesisUpdater.hpp

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#ifndef PERSPECTIVEHYPOTHESISUPDATER_HPP_
#define PERSPECTIVEHYPOTHESISUPDATER_HPP_

#include "next_best_view/hypothesis_updater/HypothesisUpdater.hpp"
#include "next_best_view/rating/impl/DefaultRatingModule.hpp"

namespace next_best_view {
        class PerspectiveHypothesisUpdater : public HypothesisUpdater {
        private:
                DefaultRatingModulePtr mDefaultRatingModulePtr;
        DebugHelperPtr mDebugHelperPtr;
        double mNormalAngleThreshold;
        public:
                PerspectiveHypothesisUpdater();
                virtual ~PerspectiveHypothesisUpdater();

        unsigned int update(const ObjectTypeSetPtr &objectTypeSetPtr, const ViewportPoint &viewportPoint);

        void setDefaultRatingModule(DefaultRatingModulePtr defaultRatingModulePtr);

                DefaultRatingModulePtr getDefaultRatingModule();

        void setNormalAngleThreshold(double angle);

        double getNormalAngleThreshold();
        };

        typedef boost::shared_ptr<PerspectiveHypothesisUpdater> PerspectiveHypothesisUpdaterPtr;
}


#endif /* PERSPECTIVEHYPOTHESISUPDATER_HPP_ */