ScanMap.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
//
// $Id$
//
// 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 __SCAN_MAP_H_
#define __SCAN_MAP_H_

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

#include <stdlib.h>
#include <string>
#include <sstream>
#include <vector>
#include <assert.h>
#include <pthread.h>

#include <Scan.h>
#include <Grid.h>


namespace MipBaselib {
class ScanMap{
 private:
  vector <Scan> _scans;
  vector <Pose> _poses;
  BoundBox _boundBox;
  
  Grid*   _grid;
  
  int _size;
  int _numPoints;
  vector<bool> _bisquits;
 
  void _computeBoundingBox();
 public:
  
  ScanMap(bool useGrid=true,BoundBox gridBoundBox=BoundBox());
  
  ~ScanMap(){
  }
  
  void pushBack(Scan &scan,Pose &pose);
  
  void popBack();
  
  bool findNearest(Pose &pose,Scan &scan,Decimal maxLinDist,Decimal maxAngDist);
  
  bool getExpectedScan(Scan &expectedScan,Pose &expectedPose, Decimal range, unsigned int samples, Angle angWidth);
  
  bool save(string fileName);

  bool load(string fileName);
  
  int getSize(){
   return _size;
  }
  
  void getGrid(Grid* &grid, Position& gridCenter){
   grid = _grid;
   gridCenter = _boundBox.center();
  }
  
  int getNumPoints(){
   return _numPoints;
  }
  
  int getNumPoints(int numScan);
  
  Scan* getScanPointer(int numScan);
  
  Pose* getPosePointer(int numPose);

  void setBisquit(int i){
   _bisquits[i] = true;
  }
  
  int createBisquit(){
   _bisquits.push_back(false);
   return _bisquits.size() - 1;
  }
  
  bool getBisquit(int i){
   return _bisquits[i];
  }
  
  void unsetBisquits(){
   _bisquits = vector<bool>(_bisquits.size(),false);
  }
  
  string print();
};


}; // end of namespace

#endif

/* @} */