DirectionRelationHeuristic.h

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#pragma once

// Global includes
#include <limits>

#include <boost/foreach.hpp>
#include <boost/shared_ptr.hpp>

// Local includes
#include "helper/MathHelper.h"

#include "trainer/TreeNode.h"

#include "trainer/source/Object.h"
#include "trainer/source/ObjectSet.h"
#include "trainer/source/ObjectSetList.h"

#include "trainer/generator/heuristic/AbstractHeuristic.h"

#include <ISM/common_type/Object.hpp>
#include <ISM/common_type/ObjectSet.hpp>


namespace SceneModel {
  
  class DirectionRelationHeuristic : public AbstractHeuristic
  {
  public:

    DirectionRelationHeuristic(const double pStaticBreakRatio, const double pTogetherRatio, const double pMaxAngleDeviation);
    
    ~DirectionRelationHeuristic();

    void apply(std::vector<boost::shared_ptr<TreeNode> > pNodes);
    
    void apply(std::vector<boost::shared_ptr<TreeNode> > pNodes, boost::shared_ptr<TreeNode> pChild);
    
    boost::shared_ptr<TreeNode> getBestCluster();
    
    boost::shared_ptr<TreeNode> getBestParentNode();
    
  private:
    
    Eigen::Vector3d getDirectionVector(const boost::shared_ptr<ISM::Object> first,
                    const boost::shared_ptr<ISM::Object> second);

    double mStaticBreakRatio;
    
    double mTogetherRatio;
    
    double mMaxAngleDeviation;
  };
}