BBMedium.hpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
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13  * GNU General Public License for more details.
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18  * @package
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22  * GNU General Public License
23  */
24 #pragma once
25 
26 #include <vector>
27 #include <limits>
28 #include <math.h>
29 
30 #include "BBFeature.hpp"
31 
32 class BBMediumSide : public BBFeature
33 {
34 public:
36  BBMediumSide(const std::vector<Eigen::Vector3f>& points)
37  : BBFeature(points)
38  {
39  m_name = "BBMediumSide";
40  }
41 
42  BBMediumSide(const std::pair<std::string, std::vector<Eigen::Vector3f>>& points)
43  : BBFeature(points)
44  {
45  m_name = "BBMediumSide";
46  }
47 
48  double mediumSide() const
49  {
50  return m_mediumSide;
51  }
52 
53  FeaturePtr calculate(const Points& points)
54  {
55  return FeaturePtr(new BBMediumSide(points));
56  }
58  {
59  return FeaturePtr(new BBMediumSide(points));
60  }
61 
62  double compare(const Feature& other) const
63  {
64  const BBMediumSide* casted = dynamic_cast<const BBMediumSide*>(&other);
65 
66  if (casted)
67  {
68  return std::pow(m_mediumSide - casted->mediumSide(), 2.0);
69  }
70  else
71  {
73  }
74  }
75 
76  virtual void serialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&) const
77  {
78  AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
79 
80  AbstractObjectSerializerPtr featureObj;
81 
82  //Check if object already has a "features" field, else create a new one
83  if (obj->hasElement(FEATURE_FIELD_NAME))
84  {
85  featureObj = obj->getElement(FEATURE_FIELD_NAME);
86  featureObj->setDouble(m_name, m_mediumSide);
87  }
88  else
89  {
90  featureObj = obj->createElement();
91  featureObj->setDouble(m_name, m_mediumSide);
92  obj->setElement(FEATURE_FIELD_NAME, featureObj);
93  }
94  }
95 
96  virtual void deserialize(const ObjectSerializerBasePtr& serializer, const Ice::Current&)
97  {
98  AbstractObjectSerializerPtr obj = AbstractObjectSerializerPtr::dynamicCast(serializer);
99  AbstractObjectSerializerPtr featureObj = obj->getElement(FEATURE_FIELD_NAME);
100  //Now copy the result array from the DB
101  m_mediumSide = featureObj->getDouble(m_name);
102  }
103 
104  virtual std::ostream& output(std::ostream& out) const
105  {
106  return out << m_mediumSide;
107  }
108 };
109 
Feature
Definition: Feature.hpp:44
Feature::m_name
std::string m_name
Definition: Feature.hpp:87
BBMediumSide::calculate
FeaturePtr calculate(const TaggedPoints &points)
Definition: BBMedium.hpp:57
BBMediumSide::BBMediumSide
BBMediumSide(const std::vector< Eigen::Vector3f > &points)
Definition: BBMedium.hpp:36
BBMediumSide
Definition: BBMedium.hpp:32
Feature::TaggedPoints
std::pair< std::string, Points > TaggedPoints
Definition: Feature.hpp:48
BBMediumSide::compare
double compare(const Feature &other) const
Definition: BBMedium.hpp:62
BBMediumSide::output
virtual std::ostream & output(std::ostream &out) const
Definition: BBMedium.hpp:104
BBMediumSide::BBMediumSide
BBMediumSide()
Definition: BBMedium.hpp:35
BBFeature.hpp
IceInternal::Handle
Definition: forward_declarations.h:8
FEATURE_FIELD_NAME
const std::string FEATURE_FIELD_NAME
Definition: Feature.hpp:42
Feature::Points
std::vector< Eigen::Vector3f > Points
Definition: Feature.hpp:47
BBFeature::m_mediumSide
double m_mediumSide
Definition: BBFeature.hpp:77
BBMediumSide::serialize
virtual void serialize(const ObjectSerializerBasePtr &serializer, const Ice::Current &) const
Definition: BBMedium.hpp:76
max
T max(T t1, T t2)
Definition: gdiam.h:48
BBMediumSide::calculate
FeaturePtr calculate(const Points &points)
Definition: BBMedium.hpp:53
BBMediumSide::BBMediumSide
BBMediumSide(const std::pair< std::string, std::vector< Eigen::Vector3f >> &points)
Definition: BBMedium.hpp:42
BBFeature
Definition: BBFeature.hpp:54
BBMediumSide::mediumSide
double mediumSide() const
Definition: BBMedium.hpp:48
Feature::FeaturePtr
std::shared_ptr< Feature > FeaturePtr
Definition: Feature.hpp:49
BBMediumSide::deserialize
virtual void deserialize(const ObjectSerializerBasePtr &serializer, const Ice::Current &)
Definition: BBMedium.hpp:96