Evaluator.h

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#pragma once

#include <string>
#include <tuple>
#include <list>
#include <unordered_map>
#include <fstream>
#include <memory>
#include "ros/ros.h"
#include <sqlite3.h>


// Rank value, Scene name, Object meta name, object name, object observed id
typedef std::tuple<double,std::string,std::string,std::string,std::string> evalulatorTuple;
typedef std::shared_ptr<evalulatorTuple> evalulatorTupleSharedPtr;
// Rank value, Object meta name, object name, object observed id
typedef std::tuple<double,std::string,std::string,std::string> objectTuple;
typedef std::shared_ptr<objectTuple> objectTupleSharedPtr;

class Evaluator {
private:
    bool Validation(std::list<objectTupleSharedPtr> listToValidate);
    bool Evaluate(std::list<objectTupleSharedPtr> oldList, std::list<objectTupleSharedPtr> newList);
    double CalcAverageF(std::list<objectTupleSharedPtr> list);
    void PublishIntermediateObjectForWorldModel();
    void PublishIntermediateObjectInDomainTable();
    int ObjectListSize;
    std::unordered_map<std::string,std::list<std::string> > SceneMap;
    std::list<objectTupleSharedPtr> ProcessedObjectList;
        double GainValueThreshold;
    std::string NBVPath;
    std::string DbPath;

public:
        Evaluator();
    Evaluator(std::list<evalulatorTupleSharedPtr> objectListEntry, std::list<std::string> sceneListEntry, double GainValueThresholdEntry, std::string NBVPath, std::string dbPath);
        virtual ~Evaluator();
    std::list<objectTupleSharedPtr> getIntermediateObjects();
};