DualCoding: ShapeSpace.h Source File

00001 //-*-c++-*-
00002 #ifndef _SHAPESPACE_H_
00003 #define _SHAPESPACE_H_
00004 
00005 #include <vector>
00006 #include <iostream>
00007 
00008 #include "Vision/colors.h"
00009 #include "Shared/newmat/newmat.h"
00010 
00011 #include "Measures.h"
00012 #include "ShapeTypes.h"
00013 
00014 namespace DualCoding {
00015 
00016 //****************
00017 //
00018 // ShapeSpace holds a collection of data objects, e.g., AgentData,
00019 // LineData, EllipseData
00020 
00021 class BaseData;
00022 class ShapeRoot;
00023 class Point;
00024 class SketchSpace;
00025 class LineData;
00026 template<typename T> class Shape;
00027 class Shape<LineData>;
00028 
00029 //! Holds a collection of diverse shapes such as LineData or EllipseData
00030 
00031 class ShapeSpace {
00032 private:
00033   friend class SketchSpace;
00034   friend class ShapeRoot;
00035   friend class VisualRoutinesBehavior;
00036   //  friend class WorldMapBuilder;
00037   
00038 public:
00039   string name;  //!< Name of the ShapeSpace
00040 
00041 private:
00042   SketchSpace* dualSpace;
00043   int id_counter;
00044   vector<ShapeRoot> shapeCache;
00045   ShapeRoot& addShape(BaseData* p);
00046   ReferenceFrameType_t refFrameType;
00047   
00048 public:
00049 
00050   //! Constructor for ShapeSpace; requires dual SketchSpace. 
00051   ShapeSpace(SketchSpace* dualSkS, int init_id=70000, string const _name="", 
00052        ReferenceFrameType_t _refFrameType=camcentric);
00053   
00054   ~ShapeSpace(void);
00055   
00056   SketchSpace& getDualSpace(void) const { return *dualSpace; }
00057   ReferenceFrameType_t getRefFrameType() const { return refFrameType; }
00058   
00059   void importShapes(std::vector<ShapeRoot>& foreign_shapes);
00060   BaseData* importShape(const ShapeRoot& foreign_shape);
00061   
00062   void deleteShape(ShapeRoot &b);
00063   void deleteShapes(std::vector<ShapeRoot>& shapes_vec); 
00064   
00065   void clear();
00066   
00067   std::vector<ShapeRoot>& allShapes(void) { return shapeCache; }
00068   const std::vector<ShapeRoot>& allShapes(void) const { return shapeCache; }
00069   std::vector<ShapeRoot> allShapes(ShapeType_t type);
00070   std::vector<ShapeRoot> allShapes(rgb color);
00071 
00072   // Coerce a ShapeSpace into a vector of ShapeRoots it contains
00073   operator std::vector<ShapeRoot>&() { return shapeCache; }
00074   std::vector<ShapeRoot>::iterator begin() { return shapeCache.begin(); }
00075   std::vector<ShapeRoot>::iterator end() { return shapeCache.end(); }
00076 
00077   std::string getShapeListForGUI(void);
00078   
00079   
00080   void printParams(void);
00081   void printSummary(void);
00082   
00083   //! Transformation and Location Utilities
00084   //@{
00085   void applyTransform(const NEWMAT::Matrix& Tmat);
00086   
00087   Point getCentroid(void);
00088   
00089   Point getCentroidOfSubset(const std::vector<ShapeRoot>& subset);
00090   //@}
00091 
00092 private:
00093   ShapeSpace(const ShapeSpace&);  //!< never call this
00094   ShapeSpace& operator=(const ShapeSpace&); //!< never call this
00095 
00096 };
00097 
00098 } // namespace
00099 
00100 #endif