ManuallyDefPseudoHeuristic.hpp

Go to the documentation of this file.

#pragma once

#include <boost/shared_ptr.hpp>
#include <boost/variant.hpp>

#include <Eigen/Geometry>
#include "common_type/Tracks.hpp"
#include "common_type/Object.hpp"
#include "Heuristic.hpp"

namespace ISM {
    class ManuallyDefPseudoHeuristic: public Heuristic {
    public:

        struct ClusterObject
        {
              ClusterObject(uint16_t clusterId) : isCluster(true)
              {
                    mObjectOrCluster = clusterId;
              }

              ClusterObject(std::string objectType) : isCluster(false)
              {
                      mObjectOrCluster = objectType;
              }
              bool isCluster;
              boost::variant<uint16_t, std::string> mObjectOrCluster;
        };
            ManuallyDefPseudoHeuristic(std::vector<std::pair<std::vector<ClusterObject>, uint16_t>>
                        clusters);
            ~ManuallyDefPseudoHeuristic();

            virtual void applyHeuristic(const TracksPtr& tracks);

        private:

            std::vector<std::pair<std::vector<ClusterObject>, uint16_t>> mClusters;
    };
}