filter_minimum_number_of_deleted_normals.hpp

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#pragma once

#include "filter/filter_basic.hpp"

namespace directSearchWS {

class FilterMinimumNumberOfDeletedNormals : public FilterBasic {

private:
    int deleteCount;
    int filterMinimumNumberOfDeletedNormalsParam;

public:
    FilterMinimumNumberOfDeletedNormals(const RobotStatePtrVecPtr &posesToExplorePtr, int filterMinimumNumberOfDeletedNormalsParam) :
        FilterBasic(posesToExplorePtr), deleteCount(0), filterMinimumNumberOfDeletedNormalsParam(filterMinimumNumberOfDeletedNormalsParam) { }
    virtual ~FilterMinimumNumberOfDeletedNormals() { }

    bool needIteration() {
        if (filterMinimumNumberOfDeletedNormalsParam <= 0) {
            ROS_INFO_STREAM("filterMinimumNumberOfDeletedNormals is <= 0 -> nothing to do");
            return false;
        }
        deleteCount = 0;
        return true;
    }

    bool wasIterationSuccessful() {
        ROS_INFO_STREAM("Number of deleted ptuTuple by FilterMinimumNumberOfDeletedNormals: " << deleteCount);
        return true;
    }

    bool shouldPtuTupleBeDeleted(const RobotStatePtrVec::iterator &posesToExploreIter, const PtuTuplePtrVec::iterator &ptuTuplePtrIter) {
        bool shouldDelete = ptuTuplePtrIter->get()->getDeactivatedObjectNormalsCount() < filterMinimumNumberOfDeletedNormalsParam;
        if (shouldDelete) {
            ++deleteCount;
        }
        return shouldDelete;
    }

};

typedef boost::shared_ptr<FilterMinimumNumberOfDeletedNormals> FilterMinimumNumberOfDeletedNormalsPtr;

}