TermEvaluator.h

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#pragma once

// Global includes
#include <vector>

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

#include <asr_msgs/AsrObject.h>

#include <ISM/common_type/Object.hpp>

#include <visualization/psm/ProbabilisticPrimarySceneObjectVisualization.h>

namespace ProbabilisticSceneRecognition {
  
  class TermEvaluator {
  public:

    TermEvaluator();
    
    virtual ~TermEvaluator();
    
    virtual void load(boost::property_tree::ptree& pPt) = 0;
    
    virtual void initializeVisualizer(boost::shared_ptr<Visualization::ProbabilisticPrimarySceneObjectVisualization> mSuperior) = 0;
    
    virtual double calculateProbabilityForHypothesis(std::vector<ISM::Object> pEvidenceList, std::vector<unsigned int> pAssignments) = 0;
    
    virtual void visualize(std::vector<ISM::Object> pEvidenceList) = 0;
    
    virtual unsigned int getNumberOfSlots() = 0;
  };
}