SpaceSampler.hpp

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#ifndef SPACESAMPLER_HPP_
#define SPACESAMPLER_HPP_

#include "next_best_view/common/CommonClass.hpp"

/* SpaceSampler generates positions to generate views. 
 * The diffrent sampler samples in diffrent ways the given xy-plane where the robot can stay for the next view.
 */

namespace next_best_view {
        class SpaceSampler : public CommonClass {
        private:
                uint32_t mSamples;
                
        protected:
          
        double xtop,xbot,ytop,ybot;

        public:
                SpaceSampler();

                virtual ~SpaceSampler();

                virtual SamplePointCloudPtr getSampledSpacePointCloud(SimpleVector3 currentSpacePosition, float contractor) = 0;

                void setSamples(const uint32_t &samples);

                uint32_t getSamples();

        double getXtop() const{return this->xtop;}
        double getYtop() const{return this->ytop;}
        double getXbot() const{return this->xbot;}
        double getYbot() const{return this->ybot;}
        };

        typedef boost::shared_ptr<SpaceSampler> SpaceSamplerPtr;
}


#endif /* SPACESAMPLER_HPP_ */