Domain.h

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#pragma once

#include <ISM/utility/TableHelper.hpp>
#include "Evaluator.h"
#include "Scene.h"
#include "ros/ros.h"

typedef std::shared_ptr<Scene> SceneSharedPointer;

class Domain {
private:
        std::string DomainName;
    std::vector<SceneSharedPointer> SceneList;
        double GainValueThreshold;
        int RankingMethod;
        double Alpha;
        double Beta;
        double Gamma;
    std::string LogPath;
    std::string NBVPath;
    std::string AutomatPath;
    std::string Scene_path;
    std::list<objectTupleSharedPtr> IntermediateOjects;
    ros::NodeHandle LocalHandle;

public:
        Domain();
        virtual ~Domain();

        void calcIntermediateObjectsForDomain();
    void getDomainFromParams();
        void publishLogs();
    std::list<objectTupleSharedPtr> getIntermediateOjects() const{return this->IntermediateOjects;}
    void publishIntermediateObjectToAutomat();
};