tracking_bound.h

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/*
 * Copyright (c) 2018, The Regents of the University of California (Regents).
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 *    2. Redistributions in binary form must reproduce the above
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 *       with the distribution.
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 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * Please contact the author(s) of this library if you have any questions.
 * Authors: David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

//
// Base struct for tracking error bound.
//

#ifndef FASTRACK_BOUND_TRACKING_BOUND_H
#define FASTRACK_BOUND_TRACKING_BOUND_H

#include <fastrack/utils/types.h>

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

namespace fastrack {
namespace bound {

struct TrackingBound {
  // Initialize from vector.
  virtual bool Initialize(const std::vector<double>& params) = 0;

  // Returns true if this tracking error bound (at the given position) overlaps
  // with different shapes.
  virtual bool OverlapsSphere(const Vector3d& p, const Vector3d& center,
                              double radius) const = 0;
  virtual bool OverlapsBox(const Vector3d& p, const Vector3d& lower,
                           const Vector3d& upper) const = 0;

  // Returns true if this tracking error bound (at the given position) is
  // contained within a box.
  virtual bool ContainedWithinBox(const Vector3d& p, const Vector3d& lower,
                                  const Vector3d& upper) const = 0;

  // Visualize.
  virtual void Visualize(const ros::Publisher& pub,
                         const std::string& frame) const = 0;
};  //\struct TrackingBound

}  //\namespace bound
}  //\namespace fastrack

#endif