measurement.h

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#ifndef _MEASUREMENT_H_
#define _MEASUREMENT_H_

#include <boost/shared_ptr.hpp>
#include <fstream>
#include <iostream>
#include <vector>

#include <Eigen/Dense>

#include <mtt/point.h>
#include <mtt/cluster.h>

using namespace std;

using Eigen::Vector2d;
using Eigen::Vector3d;

class Cluster;

typedef boost::shared_ptr<Cluster> ClusterPtr;

class Measurement
{
        public:
                
                vector<PointPtr> points;
                Point centroid;
                long id;
                
                Vector3d state;
                
                vector<ClusterPtr> assigned_clusters;

                Measurement();
                
                ~Measurement();
                
                Measurement & operator=(const Measurement &rhs);
                
                bool breakPointDetector(PointPtr&pt,PointPtr&pt_m1);
                
                void calculateCentroid(void);
                
                bool operator<(Measurement&);
                bool operator>(Measurement&);
                
//              friend ostream& operator<<(ostream& o, Measurement& m);
                
        private:
};

typedef boost::shared_ptr<Measurement> MeasurementPtr;

ostream& operator<<(ostream& o, Measurement& m);
ostream& operator<<(ostream& o,vector<MeasurementPtr>& m);

bool compareMeasurements(MeasurementPtr m1,MeasurementPtr m2);

#endif