PowerSetBackgroundInferenceAlgorithm.h

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#pragma once

// Global includes
#include <string>
#include <vector>
#include <fstream>
#include <iostream>

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

#include <asr_msgs/AsrObject.h>

#include <visualization/psm/ProbabilisticSceneVisualization.h>

// Local includes
#include "inference/model/background/BackgroundInferenceAlgorithm.h"

#include <ISM/common_type/Object.hpp>

namespace ProbabilisticSceneRecognition {
  
  class PowerSetBackgroundInferenceAlgorithm : public BackgroundInferenceAlgorithm {
  public:
    
    PowerSetBackgroundInferenceAlgorithm();
    
    ~PowerSetBackgroundInferenceAlgorithm();
    
    void doInference(std::vector<ISM::Object> pEvidenceList, std::ofstream& pRuntimeLogger);
    
    double getProbability();
    
  private:
    
    double mProbability;
  };
}