geometric_map.hh

#ifndef __GEOMETRIC_MAP_HH
#define __GEOMETRIC_MAP_HH

#include <boost/numeric/ublas/vector.hpp>
#include <boost/smart_ptr.hpp>
#include <mimas/mm_object.h>
#include <vector>
#include "mi_pose.hh"

class geometric_map: public mimas::mm_object
{
 public:
  geometric_map( const std::string &_hash_type ): hash_type(_hash_type) {}
  virtual std::vector< mi_pose > candidates
     ( const std::vector< boost::numeric::ublas::vector< int > > &features )
    const = 0;
  virtual bool random_poses
     ( const std::vector< boost::numeric::ublas::vector< int > > &features,
       mi_pose &pose )
    const = 0;
  const std::string get_hash_type(void) const { return hash_type; }
 protected:
  std::string hash_type;
};

typedef boost::shared_ptr< geometric_map > geometric_map_ptr;

#endif

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