measurement_marker.h

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#ifndef MEASUREMENT_MARKER_H
#define MEASUREMENT_MARKER_H

#include <vector>
#include <tuw_geometry/pose2d.h>
#include <tuw_geometry/measurement.h>

namespace tuw {

class MeasurementMarker;  
using MeasurementMarkerPtr =  std::shared_ptr< MeasurementMarker >;
using MeasurementMarkerConstPtr = std::shared_ptr< MeasurementMarker const >; 

class MeasurementMarker : public Measurement{
public:
    struct Marker {
        std::vector<int> ids;
        std::vector<double> ids_confidence;

        double length;
        double angle;
        double orientation;
        Pose2D pose;
    };
    MeasurementMarker();
    MeasurementMarker(const MeasurementMarker &o);
    void resize ( size_t n );
    void clear();
    double &angle_min();
    const double &angle_min() const;
    double &angle_max();
    const double &angle_max() const;
    double &range_min();
    const double &range_min() const;
    double &range_max();
    const double &range_max() const;
    double &range_max_id();
    const double &range_max_id() const;
    bool empty() const;
    size_t size() const;
    Marker& operator[] ( int i );
    const Marker& operator[] ( int i ) const;
    void push_back ( const MeasurementMarker::Marker m );
private:
    double angle_min_;
    double angle_max_;

    double range_max_;
    double range_min_;
    double range_max_id_;

    std::vector<Marker> markers_;
};
};

#endif