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

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00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
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00032 #ifndef _TARGET_H_
00033 #define _TARGET_H_
00034 
00035 #include <vector>
00036 #include <string>
00037 
00038 #include <mtt/measurement.h>
00039 #include <mtt/motionModel.h>
00040 #include <mtt/metrics.h>
00041 
00042 using namespace std;
00043 
00044 class Measurement;
00046 typedef boost::shared_ptr<Measurement> MeasurementPtr;
00047 
00048 class Target;
00050 typedef boost::shared_ptr<Target> TargetPtr;
00051 
00052 class Target: public MotionModel
00053 {
00054         public:
00055                 
00056                 double stt;
00057                 
00058                 long _hypothesis;
00059                 long _cluster;
00060                 long _id;
00061                 long _missed_associations;
00062                 string _variant;
00063                 long _uid;
00064                 long _exuid;
00065 //              static long _euid;
00066 //              static long _ntotal;
00067                 static long _euid;
00068                 static long _ntotal;
00069                 
00070                 double _aux1;
00071                 
00072                 vector<MeasurementPtr> _assigned_measurements;
00073                 vector<long> _concurrent_targets;
00074                 vector<Vector5d> _past_states;
00075                 
00076                 Target();
00077                 
00078                 ~Target();
00079                 
00080                 Target(TargetPtr prev_target);
00081                 
00082                 Target(TargetPtr prev_target,MeasurementPtr measurement);
00083                 
00084                 Target(MeasurementPtr measurement);
00085                 
00086                 void incrementMissedAssociations(int inc=1);
00087                 
00088                 void decrementMissedAssociations(int dec=1);
00089                 
00090                 void zeroMissedAssociations(void);
00091                 
00092                 double getDistance(MeasurementPtr& mes,int algorithm=0);
00093                 
00094                 double getDistanceToPredictedPosition(TargetPtr& target,int algorithm=0);
00095                 
00096                 void cleanTargetAssociations(void);
00097                 
00098                 friend ostream& operator<<(ostream& o,Target& t);
00099 };
00100 
00101 bool compareTargetsById(TargetPtr t1,TargetPtr t2);
00102 bool compareTargetsByAux1(TargetPtr t1,TargetPtr t2);
00103 bool compareTargetsByAux1Descending(TargetPtr t1,TargetPtr t2);
00104 
00105 
00106 #endif