distribution_evaluator.h

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// Author(s): Peter Brook

#ifndef DISTRIBUTION_COMPUTER_H_
#define DISTRIBUTION_COMPUTER_H_

#include <boost/shared_ptr.hpp>
using boost::shared_ptr;

namespace probabilistic_grasp_planner {
class GraspWithMetadata;

class DistributionEvaluator
{
protected:
  double normalization_term_;

protected:
  DistributionEvaluator() :
    normalization_term_(0.0)
  {
  }

public:
  virtual double evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp) = 0;

  virtual void reset_normalization_term()
  {
    normalization_term_ = 0.0;
  }

  virtual double get_normalization_term() const
  {
    return normalization_term_;
  }

  virtual ~DistributionEvaluator() {};
};

typedef shared_ptr<DistributionEvaluator> DistributionEvaluatorPtr;

class UniformDistributionEvaluator : public DistributionEvaluator
{
public:
  double evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp)
  {
    normalization_term_ += 1.0;
    return 1.0;
  }
};

class NormalDistributionEvaluator : public DistributionEvaluator
{
private:

  double position_sigma_, orientation_concentration_;

  double evaluate_position(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp);
  double evaluate_orientation(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp);
public:
  double evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp);
  NormalDistributionEvaluator(double position_sigma, double orientation_concentration) :
    position_sigma_(position_sigma), orientation_concentration_(orientation_concentration)
  {
  }
};

class PolarNormalDistributionEvaluator : public DistributionEvaluator
{
public:
  double evaluate(const GraspWithMetadata &gstar,const GraspWithMetadata &grasp);
};

} // namespace

#endif /* DISTRIBUTION_COMPUTER_H_ */