ObjectEvidence.h

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#pragma once

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

// Local includes
#include <ros/ros.h>
#include <boost/foreach.hpp>

// Package includes
#include <asr_msgs/AsrObject.h>

#include "inference/model/KalmanFilter.h"

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class ObjectEvidence {
  public:

    ObjectEvidence();
    
    ~ObjectEvidence();
    
    void push(const boost::shared_ptr<const ISM::Object>& pObject);
    
    bool hasWaitingEvidences();
    
    void update();
    
    void getEvidences(std::vector<ISM::Object>& pEvidences);
    
  private:
    
    int mTimeout;
    
    std::vector<ISM::Object> mBuffer;
    
    std::map<std::string, std::map<std::string, KalmanFilter> > mObjectEvidences;
  };
}