PerspectiveHypothesisUpdaterFactory.hpp

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#pragma once

#include "next_best_view/rating/impl/DefaultRatingModuleFactory.hpp"
#include "next_best_view/hypothesis_updater/impl/PerspectiveHypothesisUpdater.hpp"
#include "next_best_view/hypothesis_updater/HypothesisUpdaterAbstractFactory.hpp"

namespace next_best_view {

    class PerspectiveHypothesisUpdaterFactory : public HypothesisUpdaterAbstractFactory {
    private:
        DefaultRatingModuleFactoryPtr mDefaultRatingModuleFactoryPtr;
        double mNormalAngleThreshold;

    public:
        PerspectiveHypothesisUpdaterFactory(DefaultRatingModuleFactoryPtr defaultRatingModuleFactory, double angleThreshold)
            : mDefaultRatingModuleFactoryPtr(defaultRatingModuleFactory),
              mNormalAngleThreshold(angleThreshold)
        { }

        HypothesisUpdaterPtr createHypothesisUpdater() {
            PerspectiveHypothesisUpdaterPtr perspectiveHypothesisUpdater = PerspectiveHypothesisUpdaterPtr(new PerspectiveHypothesisUpdater());
            DefaultRatingModulePtr defaultRatingModule = boost::static_pointer_cast<DefaultRatingModule>(mDefaultRatingModuleFactoryPtr->createRatingModule());
            perspectiveHypothesisUpdater->setDefaultRatingModule(defaultRatingModule);
            perspectiveHypothesisUpdater->setNormalAngleThreshold(mNormalAngleThreshold);
            return perspectiveHypothesisUpdater;
        }
    };
    typedef boost::shared_ptr<PerspectiveHypothesisUpdaterFactory> PerspectiveHypothesisUpdaterFactoryPtr;
}