ObjectStorage.cpp
Go to the documentation of this file.00001 #include "wire/storage/ObjectStorage.h" 00002 00003 #include "wire/storage/KnowledgeDatabase.h" 00004 #include "wire/storage/SemanticObject.h" 00005 #include "wire/core/Evidence.h" 00006 00007 using namespace std; 00008 00009 namespace mhf { 00010 00011 ObjectStorage* ObjectStorage::instance_ = 0; 00012 00013 ObjectStorage& ObjectStorage::getInstance() { 00014 if (instance_) { 00015 return *instance_; 00016 } 00017 instance_ = new ObjectStorage(); 00018 return *instance_; 00019 } 00020 00021 ObjectStorage::ObjectStorage() : ID_(0), knowledge_db_(KnowledgeDatabase::getInstance()) { 00022 00023 } 00024 00025 ObjectStorage::~ObjectStorage() { 00026 00027 } 00028 00029 void ObjectStorage::addObject(SemanticObject* obj) { 00030 objects_.push_back(obj); 00031 obj->it_obj_storage_ = --objects_.end(); 00032 } 00033 00034 void ObjectStorage::removeObject(SemanticObject& obj) { 00035 objects_.erase(obj.it_obj_storage_); 00036 } 00037 00038 long ObjectStorage::getUniqueID() { 00039 return ID_++; 00040 } 00041 00042 void ObjectStorage::match(const Evidence& ev) { 00043 00044 //cout << endl << "ObjectStorage::match" << endl; 00045 00046 for(list<SemanticObject*>::iterator it_obj = objects_.begin(); it_obj != objects_.end(); ++it_obj) { 00047 SemanticObject& obj = **it_obj; 00048 obj.propagate(ev.getTimestamp()); 00049 } 00050 00051 for(list<SemanticObject*>::iterator it_obj = objects_.begin(); it_obj != objects_.end(); ++it_obj) { 00052 SemanticObject& obj = **it_obj; 00053 00054 double prob_existing = KnowledgeDatabase::getInstance().getProbabilityExisting(ev, obj); 00055 if (prob_existing > 0) { 00056 00057 //cout << "Adding evidence " << &ev << " to object " << &obj << endl; 00058 00059 obj.addPotentialAssignment(ev, prob_existing); 00060 } 00061 } 00062 } 00063 00064 }