ForegroundInferenceAlgorithm.h

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#pragma once

// Global includes
#include <string>
#include <vector>

// Package includes
#include <boost/property_tree/ptree.hpp>

#include <asr_msgs/AsrObject.h>

#include <visualization/psm/ProbabilisticSceneVisualization.h>

// Local includes
#include "inference/model/InferenceAlgorithm.h"

#include "inference/model/foreground/SceneObjectDescription.h"

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class ForegroundInferenceAlgorithm : public InferenceAlgorithm {
  public:

    ForegroundInferenceAlgorithm(boost::shared_ptr<std::vector<boost::shared_ptr<SceneObjectDescription> > >& pSceneObjects);
    
    ~ForegroundInferenceAlgorithm();
    
    void load(boost::property_tree::ptree& pPt);
    
    virtual void doInference(std::vector<ISM::Object> pEvidenceList, std::ofstream& pRuntimeLogger) = 0;
    
    virtual double getProbability() = 0;
    
  protected:
    
    boost::shared_ptr<std::vector<boost::shared_ptr<SceneObjectDescription> > > mSceneObjects;
    
  };
}