micron-vision: geometric_map_xyza.hh Source File

00001 #ifndef __GEOMETRIC_MAP_XYZA_HH
00002 #define __GEOMETRIC_MAP_XYZA_HH
00003 
00004 #include <mimas/mm_xml_reference.h>
00005 #include "geometric_map.hh"
00006 #include "tools.hh"
00007 
00009 class geometric_map_xyza: public geometric_map
00010 {
00011  public:
00014   geometric_map_xyza( mimas::mm_xml_reference< XalanElement > &configuration,
00015                       bool _verbose );
00018   virtual std::vector< mi_pose > candidates
00019      ( const std::vector< boost::numeric::ublas::vector< int > > &features )
00020     const;
00023   virtual bool random_poses
00024      ( const std::vector< boost::numeric::ublas::vector< int > > &features,
00025        mi_pose &pose )
00026     const;
00027  protected:
00031   mi_pose point_pair_to_pose( const boost::numeric::ublas::vector< int > &p1,
00032                               const boost::numeric::ublas::vector< int > &p2 )
00033     const;
00035   double min_dist;
00037   double max_dist;
00039   static rand_function< int > rnd;
00041   bool verbose;
00042 };
00043 
00045 typedef boost::shared_ptr< geometric_map_xyza > geometric_map_xyza_ptr;
00046 
00047 #endif