RatingModule.hpp

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#ifndef RATING_MODULE_HPP_
#define RATING_MODULE_HPP_

#include "next_best_view/common/CommonClass.hpp"
#include "next_best_view/rating/BaseScoreContainer.hpp"
#include <robot_model_services/robot_model/RobotState.hpp>

namespace next_best_view {
        class RatingModule : public CommonClass {
        public:
                RatingModule();

                virtual ~RatingModule();

        virtual bool setBestScoreContainer(const ViewportPoint &currentViewport,
                                            ViewportPoint &candidateViewport) = 0;

        virtual bool setSingleScoreContainer(const ViewportPoint &currentViewport,
                                        ViewportPoint &candidateViewport) = 0;

                virtual BaseScoreContainerPtr getScoreContainerInstance() = 0;

        virtual bool getBestViewport(ViewportPointCloudPtr &viewports, ViewportPoint &bestViewport) = 0;

        virtual bool compareViewports(const ViewportPoint &a, const ViewportPoint &b) = 0;

        virtual bool compareScoreContainer(const BaseScoreContainerPtr &a, const BaseScoreContainerPtr &b) = 0;

        virtual float getRating(const BaseScoreContainerPtr &a) = 0;

        virtual void setRobotState(robot_model_services::RobotStatePtr robotState) = 0;

        virtual void resetCache() = 0;
    };

        typedef boost::shared_ptr<RatingModule> RatingModulePtr;
}

#endif /* RATING_MODULE_HPP_ */