CHFeature.hpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include "../convexHull.hpp"
#include "Feature.hpp"
#include "Memoizer.hpp"
 
class CHFeature : public Feature
{
public:
    CHFeature()
    {
    }
 
    CHFeature(const std::vector<Eigen::Vector3f>& points) :
        m_convexHull(Convex::convexHull<Eigen::Vector3f>(points))
    {
    }
 
    CHFeature(const std::pair<std::string, std::vector<Eigen::Vector3f>>& points) :
        m_convexHull(memoized(Convex::convexHull<Eigen::Vector3f>)(points))
    {
    }
 
    virtual double compare(const Feature&) const = 0;
 
protected:
    typename ConvexHull<Eigen::Vector3f>::type m_convexHull;
};