ObjectRelation.hpp

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#pragma once

#include <boost/shared_ptr.hpp>
#include <map>
#include <functional>
#include "common_type/Serializable.hpp"
#include "common_type/VoteSpecifier.hpp"
#include "common_type/Quaternion.hpp"
#include "common_type/Track.hpp"

namespace ISM
{
/*
 *Class to store relations between two objects.
 */

class ObjectRelation : public Serializable
{
        public:
                ObjectRelation (ISM::TrackPtr objectA, ISM::TrackPtr objectB, std::string patternName);
                ObjectRelation (ISM::TrackPtr objectA, std::string patternName);
                //ObjectRelation (const ISM::ObjectRelation& other);
                //std::pair<std::string, std::string> getObjectIds();
                std::string getObjectIdA() const;
                std::string getObjectIdB() const;
                //std::pair<std::string, std::string> getObjectTypes();
                std::string getObjectTypeA() const;
                std::string getObjectTypeB() const;
                //std::pair<std::vector<ISM::VoteSpecifierPtr>, std::vector<ISM::VoteSpecifierPtr> > getVoteSpecifiers();
                std::vector<ISM::VoteSpecifierPtr> getVotesFromAForReferencePoseB() const;
                std::vector<ISM::VoteSpecifierPtr> getVotesFromBForReferencePoseA() const;
                TrackPtr getTrackA()
                {
                        return trackA;
                }
                TrackPtr getTrackB()
                {
                        return trackB;
                }
                bool containsObject(const std::string& type, const std::string& id);
                virtual void serialize(std::ostream& strm) const;

        private:
                //The two objects whichs positions relative to each other, are stored
                std::string objectIdA;
                std::string objectIdB;
                std::string objectTypeA;
                std::string objectTypeB;
                TrackPtr trackA;
                TrackPtr trackB;
                //The valid positions B might have if A is reference
                std::vector<VoteSpecifierPtr> votesFromBForReferencePoseA;
                //The valid positions A might have if B is reference
                std::vector<VoteSpecifierPtr> votesFromAForReferencePoseB;
};

typedef boost::shared_ptr<ISM::ObjectRelation> ObjectRelationPtr;
typedef std::map<unsigned int, ISM::ObjectRelationPtr, std::less<unsigned> >ObjectRelations;
std::ostream& operator<<(std::ostream &strm, const ISM::ObjectRelation &q);
std::ostream& operator<<(std::ostream &strm, const ISM::ObjectRelationPtr &q);
std::ostream& operator<<(std::ostream &strm, const ISM::ObjectRelations &q);

}