FeaturesDataBase.h

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/*
 * FeatureDataBase.h
 *
 *      Author: roberto
 *
 * This is a modified implementation of the method for online estimation of kinematic structures described in our paper
 * "Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors"
 * (Martín-Martín and Brock, 2014).
 * This implementation can be used to reproduce the results of the paper and to be applied to new research.
 * The implementation allows also to be extended to perceive different information/models or to use additional sources of information.
 * A detail explanation of the method and the system can be found in our paper.
 *
 * If you are using this implementation in your research, please consider citing our work:
 *
@inproceedings{martinmartin_ip_iros_2014,
Title = {Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors},
Author = {Roberto {Mart\'in-Mart\'in} and Oliver Brock},
Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
Pages = {2494-2501},
Year = {2014},
Location = {Chicago, Illinois, USA},
Note = {http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martinmartin_ip_iros_2014.pdf},
Url = {http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martinmartin_ip_iros_2014.pdf},
Projectname = {Interactive Perception}
}
 * If you have questions or suggestions, contact us:
 * roberto.martinmartin@tu-berlin.de
 *
 * Enjoy!
 */

#ifndef NEWFEATUREDB_H_
#define NEWFEATUREDB_H_

#include "omip_common/Feature.h"
#include <boost/unordered_map.hpp>

namespace omip
{

class FeaturesDataBase
{
public:

  // Shared pointer to the Feature DataBase
  typedef boost::shared_ptr<FeaturesDataBase> Ptr;

  // Map of Feature Ids to Feature shared pointers
  typedef boost::unordered_map<Feature::Id, Feature::Ptr> MapOfFeatures;

  // Map of Feature Ids to Feature locations
  typedef boost::unordered_map<Feature::Id, Feature::Location> MapOfFeatureLocations;

  // Map of Feature Ids to pairs of Feature locations
  typedef boost::unordered_map<Feature::Id, Feature::LocationPair > MapOfFeatureLocationPairs;

  FeaturesDataBase();

  virtual ~FeaturesDataBase();

  bool addFeatureLocation(Feature::Id f_id, Feature::Location f_loc);

  Feature::Id addFeatureLocation(Feature::Location f_loc);

  void step();

  void clearListOfAliveFeatureIds();

  std::vector<Feature::Id> getListOfAliveFeatureIds() const;

  Feature::Ptr getFeatureClone(Feature::Id f_id) const;

  Feature::Ptr getFeature(Feature::Id f_id) const;

  Feature::Location getFeatureFirstLocation(Feature::Id f_id) const;

  Feature::Location getFeatureLastLocation(Feature::Id f_id) const;

  Feature::Location getFeatureNextToLastLocation(Feature::Id f_id) const;

  Feature::LocationPair getFeatureTwoLastLocations(Feature::Id f_id) const;

  Feature::Location getFeatureNToLastLocation(Feature::Id f_id, int frames_to_last) const;

  Feature::Trajectory getFeatureTrajectory(Feature::Id f_id) const;

  size_t getFeatureAge(Feature::Id f_id) const;

  bool isFeatureStored(Feature::Id f_id) const;

  double getFeatureLastX(Feature::Id f_id) const;

  double getFeatureLastY(Feature::Id f_id) const;

  double getFeatureLastZ(Feature::Id f_id) const;

  MapOfFeatureLocations getAllFeaturesLastLocation() const;

  MapOfFeatureLocations getAllFeaturesNextToLastLocation() const;

  MapOfFeatureLocationPairs getAllFeaturesTwoLastLocations() const;

//  Feature::LocationPair getOneFeatureLastAndOtherLocations(Feature::Id f_id, int frames_to_last) const;

  MapOfFeatures getAllFeatures() const;

  int getTime() const;

protected:

  MapOfFeatures _map_of_features;

  std::vector<Feature::Id> _alive_feat_ids;

  int _time;
};

}

#endif /* NEWFEATUREDB_H_ */