00001 /* 00002 * Copyright (C) 2009 by Ulrich Friedrich Klank <klank@in.tum.de> 00003 * 00004 * This program is free software; you can redistribute it and/or modify 00005 * it under the terms of the GNU General Public License as published by 00006 * the Free Software Foundation; either version 3 of the License, or 00007 * (at your option) any later version. 00008 * 00009 * This program is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 * GNU General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU General Public License 00015 * along with this program. If not, see <http://www.gnu.org/licenses/>. 00016 */ 00017 00018 00019 #ifndef PROVEALGORITHM_H 00020 #define PROVEALGORITHM_H 00021 00022 #include "Algorithm.h" 00023 00024 #define XML_NODE_PRASP "ProveShapevsDescr" 00025 00026 00027 namespace cop 00028 { 00032 typedef std::pair<RelPose*, Probability_1D_t> ImprovedPose; 00033 00038 class ProveAlgorithm : 00039 public Algorithm<ImprovedPose> 00040 { 00041 public: 00042 ProveAlgorithm(void); 00043 ~ProveAlgorithm(void); 00044 00045 virtual ImprovedPose Perform(std::vector<Sensor*> sensors, RelPose* pose, Signature& Object, int &numOfObjects, double& qualityMeasure) = 0;//{throw "Perform for LocateAlgorithm not implemented\n";} 00046 00047 double CheckSignature(const Signature& object, const std::vector<Sensor*> &sensors) = 0; 00048 00049 virtual XMLTag* Save() = 0;//{throw "Save for LocateAlgorithm not implemented\n";} 00050 virtual void SetData(XMLTag* ) = 0;//{throw "Save for LocateAlgorithm not implemented\n";} 00051 00052 static ProveAlgorithm* ProveAlgFactory(XMLTag* tag); 00053 00054 virtual std::string GetName(){return "ProveAlgorithm";} 00055 00056 }; 00057 } 00058 #endif