ObjectDatabaseEntry.h

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#ifndef OBJECT_DATABASE_ENTRY_H_
#define OBJECT_DATABASE_ENTRY_H_

#include <boost/filesystem.hpp>
#include <string>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Pose.h>
#include "ObjectDatabaseRecognizer.h"

namespace object_database
{
namespace fs = boost::filesystem;

class ObjectDatabaseEntry
{
public:
    ROS_DEPRECATED ObjectDatabaseEntry(ObjectDatabaseRecognizer* recognizerPtr, const std::string uniqueName,
                        const fs::path path, const fs::path rvizMeshResourcePath,
                        const fs::path normalVectorResourcePath);
    ObjectDatabaseEntry(ObjectDatabaseRecognizer *recognizerPtr, const std::string uniqueName,
                        const fs::path path, const fs::path rvizMeshResourcePath,
                        const fs::path normalVectorResourcePath, const fs::path getDeviationResourcePath,
                        const fs::path rotation_invariance_resource_path);

    // dtor
    virtual ~ObjectDatabaseEntry()
    { }

    ObjectDatabaseRecognizer* getRecognizer();

    const std::string getUniqueName();

    const fs::path getPath();

    const fs::path getRvizMeshResourcePath();

    const fs::path getNormalVectorResourcePath();

    std::vector<geometry_msgs::Point> getNormalVectors();

    fs::path getDeviationResourcePath() const;

    std::vector<double> getDeviationsFromFile();
    

    fs::path getRotationInvarianceResourcePath() const;

    const bool getRotationInvarianceFromFile();
    
private:
    ObjectDatabaseRecognizer* mRecognizerPtr;

    std::string mUniqueName;

    fs::path mPath;

    fs::path mRvizMeshResourcePath;

    fs::path mNormalVectorResourcePath;

    fs::path deviation_resource_path_;

    fs::path rotation_invariance_resource_path;

    std::vector<geometry_msgs::Point> mNormalVectors;
    std::vector<double> deviations_;
    bool rotation_invariant;
};
}

#endif