00001 // ---------------------------------------------------------------------------- 00002 // 00003 // $Id$ 00004 // 00005 // Copyright 2008, 2009, 2010, 2011, 2012 Antonio Franchi and Paolo Stegagno 00006 // 00007 // This file is part of MIP. 00008 // 00009 // MIP is free software: you can redistribute it and/or modify 00010 // it under the terms of the GNU General Public License as published by 00011 // the Free Software Foundation, either version 3 of the License, or 00012 // (at your option) any later version. 00013 // 00014 // MIP is distributed in the hope that it will be useful, 00015 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00016 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00017 // GNU General Public License for more details. 00018 // 00019 // You should have received a copy of the GNU General Public License 00020 // along with MIP. If not, see <http://www.gnu.org/licenses/>. 00021 // 00022 // Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it 00023 // 00024 // ---------------------------------------------------------------------------- 00025 00026 00030 00031 00032 00033 #ifndef __MULTI_REG_SOL_H 00034 #define __MULTI_REG_SOL_H 00035 00036 #include <stdlib.h> 00037 00038 #include <MIPMatrix.h> 00039 #include <Spaces.h> 00040 #include <BiReg.h> 00041 #include <BiRegRANSAC.h> 00042 00043 namespace MipAlgorithms{ 00044 00046 /* @{ */ 00047 00051 class MultiRegOut { 00052 public: 00053 BiRegSol biRegSol; 00054 Observation sites; 00055 00057 MultiRegOut(); 00058 00060 MultiRegOut(BiRegSol &B, Observation &O); 00061 00063 MultiRegOut(const MultiRegOut &A); 00064 00066 MultiRegOut operator= (MultiRegOut &A); 00067 00069 ~MultiRegOut(); 00070 00072 string print(); 00073 00078 int findRob(int id); 00079 }; 00080 00081 00085 class MultiRegSol : public vector<MultiRegOut> { 00086 public: 00087 00090 string print(); 00091 00095 int getRobotMeasures(int id, vector<Pose> *meas, vector<MIPMatrix> *measCov, Decimal *rightProb); 00096 00097 private: 00098 }; 00099 00100 /* @} */ 00101 00102 };// end namespace MipAlgorithms 00103 00104 00105 #endif 00106 00107 00108 00109 00110 00111 00112 00113 00114