TopologyManager.h

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#pragma once

#include <topology_creator/Topology.h>
#include <topology_creator/TopologyCreator.h>

#include <ISM/combinatorial_optimization/NeighbourhoodFunction.hpp>
#include <ISM/utility/SVGHelper.hpp>
#include <ISM/common_type/ObjectSet.hpp>

#include "learner/foreground/ocm/combinatorial_optimization/TopologyEvaluator.h"
#include "learner/foreground/ocm/combinatorial_optimization/TopologyAdapter.h"

#include "helper/PrintHelper.h"

namespace ProbabilisticSceneRecognition {

class TopologyManager: public ISM::NeighbourhoodFunction<boost::shared_ptr<SceneModel::Topology>> {
public:
    TopologyManager(std::vector<boost::shared_ptr<ISM::ObjectSet>> pExamplesList,
                    const std::vector<std::string>& pObjectTypes,
                    boost::shared_ptr<SceneModel::AbstractTopologyCreator> pTopologyCreator,
                    boost::shared_ptr<AbstractTopologyEvaluator> pEvaluator);

    ~TopologyManager();

    virtual boost::shared_ptr<SceneModel::Topology> getNextNeighbour();
    virtual bool hasNextNeighbour();
    virtual void setReferenceInstance(boost::shared_ptr<SceneModel::Topology> instance);

    boost::shared_ptr<SceneModel::Topology> getFullyMeshedTopology();
    std::vector<boost::shared_ptr<SceneModel::Topology>> getStarTopologies();
    boost::shared_ptr<SceneModel::Topology> getRandomTopology();

    void makeTree(boost::shared_ptr<SceneModel::Topology> pTopology);
    void resetTopologies();

    void printHistory(unsigned int pRunNumber);

private:

    std::vector<boost::shared_ptr<SceneModel::Topology>> mNeighbours;
    std::map<std::string, boost::shared_ptr<SceneModel::Topology>> mSeenTopologies;

    boost::shared_ptr<AbstractTopologyEvaluator> mEvaluator;
    boost::shared_ptr<SceneModel::AbstractTopologyCreator> mTopologyCreator;
    std::vector<boost::shared_ptr<ISM::ObjectSet>> mExamplesList;

    std::vector<std::string> mObjectTypes;

    std::vector<std::vector<std::pair<boost::shared_ptr<SceneModel::Topology>, bool>>> mHistory;
    unsigned int mHistoryIndex;

    std::string mHistoryOutput;

    std::string mHistoryFilePath;

    ISM::SVGHelperPtr mSVGHelper;

    bool mRevisitTopologies;

    PrintHelper mPrintHelper;
};

}