object_detector.h

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#ifndef OBJECT_DETECTOR_H
#define OBJECT_DETECTOR_H

#include <boost/shared_ptr.hpp>

#include <ros/ros.h>

#include <object_manipulation_msgs/GraspableObject.h>

#include "bayesian_grasp_planner/probability_distribution.h"

namespace bayesian_grasp_planner {

class ObjectDetector
{
public:
  virtual double getProbabilityForDetection(const object_manipulation_msgs::GraspableObject &go) const = 0;
}; 

class DatabaseObjectDetector : public ObjectDetector
{
public:
  DatabaseObjectDetector(const object_manipulation_msgs::GraspableObject &object, 
                         boost::shared_ptr<ProbabilityDistribution> correct_distribution,
                         boost::shared_ptr<ProbabilityDistribution> incorrect_distribution) :
    correct_distribution_(correct_distribution),
    incorrect_distribution_(incorrect_distribution)
  {
    ROS_ASSERT(object.potential_models.size() == 1);
    my_object_ = object;
  }

  double getProbabilityForDetection(const object_manipulation_msgs::GraspableObject &go) const
  {
    if ( go.potential_models.empty() || 
         go.potential_models[0].model_id != my_object_.potential_models[0].model_id )
    {
      return incorrect_distribution_->evaluate(my_object_.potential_models[0].confidence);
    }
    return correct_distribution_->evaluate(my_object_.potential_models[0].confidence);
  }

private:
  object_manipulation_msgs::GraspableObject my_object_;
  boost::shared_ptr<ProbabilityDistribution> correct_distribution_;
  boost::shared_ptr<ProbabilityDistribution> incorrect_distribution_;
};

}

#endif