Object.hpp

Go to the documentation of this file.

#pragma once

#include <string>
#include <iostream>
#include <sstream>
#include "Pose.hpp"
#include <boost/shared_ptr.hpp>
#include <boost/filesystem.hpp>
#include "Serializable.hpp"

namespace ISM {

class Object: public Serializable
{
    public:
        //All information about an object that results from estimation through object localization.
        PosePtr pose;
        std::string type;
        std::string observedId;
        //Path to the mesh, used to visualize the estimated object.
        boost::filesystem::path ressourcePath;
        //Unnormalized and normalized rating how well this object estimate matches the searched scene.
        double weight;
        double confidence;
        std::string providedBy;

        Object()
        {
            this->pose = PosePtr(new Pose());
        };

        Object(const Object& other) : type(other.type), observedId(other.observedId), ressourcePath(other.ressourcePath),
                      weight(other.weight), confidence(other.confidence), providedBy(other.providedBy)
        {
            this->pose = PosePtr(new Pose(*other.pose));
        };

  Object(const std::string type, const std::string observedId = "", const std::string ressourcePath = "", std::string providedBy = "") : type(type), observedId(observedId), ressourcePath(ressourcePath), weight(1), confidence(1), providedBy(providedBy)
        {
            this->pose = ISM::PosePtr(new ISM::Pose());
        };

        Object(const std::string type, PosePtr pose, const std::string observedId = "", const std::string ressourcePath = "", std::string providedBy = "") :
          pose(pose), type(type), observedId(observedId), ressourcePath(ressourcePath),
      weight(1), confidence(1), providedBy(providedBy)
        {};

        Object(std::string type, Pose* pose, std::string observedId = "", const std::string ressourcePath = "", std::string providedBy = "") :
            type(type), observedId(observedId), ressourcePath(ressourcePath),
            weight(1), confidence(1), providedBy(providedBy)
        {
            this->pose = PosePtr(pose);
        };

        void serialize(std::ostream& strm) const;

        inline bool operator<(const Object& rhs) const
        {
            return this->type < rhs.type && this->observedId < rhs.observedId;
        }
};
typedef boost::shared_ptr<Object> ObjectPtr;

std::ostream& operator<<(std::ostream &strm, const ISM::Object &o);
std::ostream& operator<<(std::ostream &strm, const ISM::ObjectPtr &o);
}