target.h

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#ifndef _TARGET_H_
#define _TARGET_H_

#include <vector>
#include <string>

#include <mtt/measurement.h>
#include <mtt/motionModel.h>
#include <mtt/metrics.h>

using namespace std;

class Measurement;
typedef boost::shared_ptr<Measurement> MeasurementPtr;

class Target;
typedef boost::shared_ptr<Target> TargetPtr;

class Target: public MotionModel
{
        public:
                
                double stt;
                
                long _hypothesis;
                long _cluster;
                long _id;
                long _missed_associations;
                string _variant;
                long _uid;
                long _exuid;
//              static long _euid;
//              static long _ntotal;
                static long _euid;
                static long _ntotal;
                
                double _aux1;
                
                vector<MeasurementPtr> _assigned_measurements;
                vector<long> _concurrent_targets;
                vector<Vector5d> _past_states;
                
                Target();
                
                ~Target();
                
                Target(TargetPtr prev_target);
                
                Target(TargetPtr prev_target,MeasurementPtr measurement);
                
                Target(MeasurementPtr measurement);
                
                void incrementMissedAssociations(int inc=1);
                
                void decrementMissedAssociations(int dec=1);
                
                void zeroMissedAssociations(void);
                
                double getDistance(MeasurementPtr& mes,int algorithm=0);
                
                double getDistanceToPredictedPosition(TargetPtr& target,int algorithm=0);
                
                void cleanTargetAssociations(void);
                
                friend ostream& operator<<(ostream& o,Target& t);
};

bool compareTargetsById(TargetPtr t1,TargetPtr t2);
bool compareTargetsByAux1(TargetPtr t1,TargetPtr t2);
bool compareTargetsByAux1Descending(TargetPtr t1,TargetPtr t2);


#endif