micron-vision: geometric_map_xyz.hh Source File

00001 #ifndef __GEOMETRIC_MAP_XYZ_HH
00002 #define __GEOMETRIC_MAP_XYZ_HH
00003 
00004 #include <mimas/mm_xml_reference.h>
00005 #include "geometric_map.hh"
00006 #include "tools.hh"
00007 
00010 class geometric_map_xyz: public geometric_map
00011 {
00012  public:
00015   geometric_map_xyz( mimas::mm_xml_reference< XalanElement > &configuration,
00016                      bool _verbose );
00022   virtual std::vector< mi_pose > candidates
00023      ( const std::vector< boost::numeric::ublas::vector< int > > &features )
00024     const;
00029   virtual bool random_poses
00030      ( const std::vector< boost::numeric::ublas::vector< int > > &features,
00031        mi_pose &pose )
00032     const;
00033  protected:
00038   mi_pose point_to_pose( const boost::numeric::ublas::vector< int > &p )
00039     const;
00041   static rand_function< int > rnd;
00043   bool verbose;
00044 };
00045 
00047 typedef boost::shared_ptr< geometric_map_xyz > geometric_map_xyz_ptr;
00048 
00049 #endif