mtt: /home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/measurement.h Source File

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00003 
00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
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00032 #ifndef _MEASUREMENT_H_
00033 #define _MEASUREMENT_H_
00034 
00035 #include <boost/shared_ptr.hpp>
00036 #include <fstream>
00037 #include <iostream>
00038 #include <vector>
00039 
00040 #include <Eigen/Dense>
00041 
00042 #include <mtt/point.h>
00043 #include <mtt/cluster.h>
00044 
00045 using namespace std;
00046 
00047 using Eigen::Vector2d;
00048 using Eigen::Vector3d;
00049 
00050 class Cluster;
00051 
00053 typedef boost::shared_ptr<Cluster> ClusterPtr;
00054 
00060 class Measurement
00061 {
00062         public:
00063                 
00065                 vector<PointPtr> points;
00067                 Point centroid;
00069                 long id;
00070                 
00071                 Vector3d state;
00072                 
00074                 vector<ClusterPtr> assigned_clusters;
00075 
00076                 Measurement();
00077                 
00078                 ~Measurement();
00079                 
00080                 Measurement & operator=(const Measurement &rhs);
00081                 
00089                 bool breakPointDetector(PointPtr&pt,PointPtr&pt_m1);
00090                 
00094                 void calculateCentroid(void);
00095                 
00096                 bool operator<(Measurement&);
00097                 bool operator>(Measurement&);
00098                 
00099 //              friend ostream& operator<<(ostream& o, Measurement& m);
00100                 
00101         private:
00102 };
00103 
00105 typedef boost::shared_ptr<Measurement> MeasurementPtr;
00106 
00107 ostream& operator<<(ostream& o, Measurement& m);
00108 ostream& operator<<(ostream& o,vector<MeasurementPtr>& m);
00109 
00118 bool compareMeasurements(MeasurementPtr m1,MeasurementPtr m2);
00119 
00120 #endif