VotedPose.hpp

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#pragma once

#include "typedef.hpp"
#include "common_type/Pose.hpp"
#include "common_type/VoteSpecifier.hpp"
#include "common_type/Object.hpp"

namespace ISM {
  struct VotedPose {
    PosePtr pose;
    VoteSpecifierPtr vote;
    ObjectPtr source;
    double weight;
    double weightDenominator;

    VotedPose(const VotedPose& other):
      pose(PosePtr(new Pose(*(other.pose)))),
      vote(VoteSpecifierPtr(new VoteSpecifier(*(other.vote)))),
      source(ObjectPtr(new Object(*(other.source)))),
      weight(other.weight), weightDenominator(other.weightDenominator)
    { }

    VotedPose(PosePtr pose, VoteSpecifierPtr vote, ObjectPtr source, double weight, double weightDenominator):
      pose(pose), vote(vote), source(source), weight(weight), weightDenominator(weightDenominator)
    { }
  };

  std::ostream& operator<<(std::ostream &strm, const ISM::VotedPose &v);
  std::ostream& operator<<(std::ostream &strm, const ISM::VotedPosePtr &v);
}