WeightedSum.h

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#pragma once

#include <ros/ros.h>

#include <ISM/combinatorial_optimization/CostFunction.hpp>
#include <topology_creator/Topology.h>

namespace ProbabilisticSceneRecognition {

class WeightedSum: public ISM::CostFunction<boost::shared_ptr<SceneModel::Topology>> {

    // similar to lib_ism/WeightedSum:
public:
    WeightedSum(unsigned int minFalsePositives, unsigned int maxFalsePositives,
                unsigned int minFalseNegatives, unsigned int maxFalseNegatives,
            double minAverageRecognitionRuntime, double maxAverageRecognitionRuntime,
            double alpha, double beta, double gamma);

    ~WeightedSum();

    double calculateCost(boost::shared_ptr<SceneModel::Topology> instance);

private:
    unsigned int mMinFalsePositives;
    unsigned int mMaxFalsePositives;

    unsigned int mMinFalseNegatives;

    unsigned int mMaxFalseNegatives;

    double mMinAverageRecognitionRuntime;
    double mMaxAverageRecognitionRuntime;

    double mAlpha;
    double mBeta;
    double mGamma;

    double getNormalisedFalsePositives(unsigned int falsePositives);

    double getNormalisedFalseNegatives(unsigned int falseNegatives);

    double getNormalisedAverageRecognitionRuntime(double averageRecognitionRuntime);

};

}