ObjectDatabase.h

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#ifndef OBJECTDATABASE_H_
#define OBJECTDATABASE_H_

#include <string>
#include <boost/filesystem.hpp>
#include <ros/ros.h>
#include <ros/package.h>
#include "typedef.h"
#include "ObjectDatabaseConfig.h"
#include "asr_object_database/RecognizerList.h"
#include "asr_object_database/ObjectTypeList.h"
#include "asr_object_database/ObjectMetaData.h"
#include "asr_object_database/RecognizerListMeshes.h"
#include "asr_object_database/ObjectTypeGenerator.h"


namespace object_database
{
using namespace asr_object_database;

namespace fs = boost::filesystem;
class ObjectDatabase
{
    ros::NodeHandle mGlobalNodeHandle;

    ros::ServiceServer mRecognizerListServiceHandle;

    ros::ServiceServer mRecognizerListMeshesServiceHandle;

    ros::ServiceServer mObjectTypeListServiceHandle;

    ros::ServiceServer mObjectMetaDataServiceHandle;

    ros::ServiceServer mObjectTypeGeneratorServiceHandle;

    fs::path mConfigurationFilePath;

    ObjectDatabaseConfig mConfig;
public:
    ObjectDatabase(fs::path configurationFilePath);

    virtual ~ObjectDatabase()
    {}

    bool processRecognizerListRequest(RecognizerList::Request &req, RecognizerList::Response &res);

    bool processObjectTypeListRequest(ObjectTypeList::Request &req, ObjectTypeList::Response &res);

    bool processObjectMetaDataRequest(ObjectMetaData::Request &req, ObjectMetaData::Response &res);

    bool processRecognizerListMeshesRequest(RecognizerListMeshes::Request &req, RecognizerListMeshes::Response &res);

    bool processObjectTypeGeneratorRequest(ObjectTypeGenerator::Request &req, ObjectTypeGenerator::Response &res);


    void readAllObjectDatabaseRecognizers();
};
}


#endif /* OBJECTDATABASE_H_ */