PSMTrainer.h

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#pragma once

// Package includes
#include <boost/shared_ptr.hpp>

// Local includes
#include "trainer/TreeNode.h"
#include "trainer/AbstractTrainer.h"

#include "trainer/source/AbstractSource.h"
#include "trainer/source/PbdSceneGraphSource.h"

#include "trainer/generator/AbstractGraphGenerator.h"
#include "trainer/generator/heuristic/HeuristicalTreeGenerator.h"
#include <ISM/common_type/ObjectSet.hpp>

namespace SceneModel {

  class PSMTrainer : public AbstractTrainer
  {
  public:
    
    PSMTrainer(const double pStaticBreakRatio, const double pTogetherRatio, const double pMaxAngleDeviation);
    
    ~PSMTrainer();
 
    void addSceneGraphMessages(std::vector<ISM::ObjectSetPtr> pMessages);
    
  private:
    
    boost::shared_ptr<PbdSceneGraphSource> pbdSource;
  };
}