PoseFeatures.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------



/* @{ */


#ifndef __POSE_FEATURES_H_
#define __POSE_FEATURES_H_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <stdio.h>
#include <math.h>
#include <vector>
#include <iostream>
#include <string>
#include <sstream>
#include <sys/time.h>
#include <sys/select.h>
#include <assert.h>

#ifdef FOUND_BOOST_SER
 #include <boost/serialization/vector.hpp>
 #include <boost/archive/text_iarchive.hpp>
 #include <boost/archive/text_oarchive.hpp>
#endif

#include <Types.h>

#include <SE2.h>
#include <R2Arma.h>

using namespace std;


 
class PoseFeature : public Association<Pose,int>{
 private:
  
//   friend class boost::serialization::access;
//   template<class Archive>
//     void serialize(Archive & ar, const unsigned int version){
//    ar & _pos;
//    ar & _ori;
//    ar & _valid;
//   }

 public:
  
  
  PoseFeature() : Association<Pose,int>(){}
  
  PoseFeature (Pose p) : Association<Pose,int>(p){}
  
  PoseFeature (Pose p, int i) : Association<Pose,int>(p,i){}

  PoseFeature (const PoseFeature& f) : Association<Pose,int>(f){};
  
  using Association<Pose,int>::operator=;
  
  Pose getPose(void){
   return getObj();
  }
  int getId(void){
   return getAsso();
  }
  void setId(int a){
   associate(a);
  }
  
  string print(){
   stringstream s;
   if(associated()){
    s << "[" << getPose().print()  << "," << getId() << "]";
   }else{
    s << "[" << getPose().print()  << ",na]";
   }
   return s.str();
  }

  bool notEqual(PoseFeature &pose, Decimal toll);
};


// class PoseFeatures : public vector<PoseFeature> {};
class PoseFeatures:public vector<PoseFeature> {
 public:
  bool find(int id, Pose& pose);

                bool find(int id, Pose& pose, int &pos);
};








#endif



/* @} */