model_object.hpp

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#pragma once

#include <asr_msgs/AsrObject.h>

namespace world_model {

    typedef std::pair<asr_msgs::AsrObject, int> PbdObjectCluster;
    typedef std::list<PbdObjectCluster> PbdObjectClusterList;

    struct ModelObject {
    public:
        std::string id;
        //The number of expected instances
        unsigned int objectCount;
        //Contains the current best object hypotheses
        PbdObjectClusterList bestHypotheses;
        //Contains all clusters accumulated during object_detection
        PbdObjectClusterList allFoundHypotheses;
        ModelObject(std::string id);
        virtual ~ModelObject();
    };

    typedef boost::shared_ptr<ModelObject> ModelObjectPtr;
    typedef std::map<std::string, ModelObjectPtr> ModelObjectPtrPerIdMap;


    std::ostream& operator<<(std::ostream &strm, const PbdObjectCluster &pbd_object_cluster);
    std::ostream& operator<<(std::ostream &strm, const PbdObjectClusterList &pbd_object_cluster_list);

    std::ostream& operator<<(std::ostream &strm, const ModelObject &model_object);
    std::ostream& operator<<(std::ostream &strm, const ModelObjectPtr &model_object_ptr);
    std::ostream& operator<<(std::ostream &strm, const ModelObjectPtrPerIdMap &model_object_ptr_per_id_map);
}