include/architecture/slam/mapdata/vMapArray.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2008
* 
* Class visualMap
*
*
*/
#pragma once
#ifndef __VISUAL_MAP__ARRAY__IMPLEMENTATION__
#define __VISUAL_MAP__ARRAY__IMPLEMENTATION__

#include <string.h>
#include <opencv2/opencv.hpp>
#include "landmarksData.h"
#include "matFuns.h"
#include "ConfigFile.h"
#include "visualMap.h"

/**
* @brief Implements a visual landmark 3d map using a simple array of features
*
*/
class vMapArray: public visualMap{

///////////////////////////////////////////////////////////////////////
//-------------------------  Attributes  ------------------------------
///////////////////////////////////////////////////////////////////////
private:

        unsigned short nMarksReserved;
        int lastRetId;
        landmark* landmarks;

//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////

public:
        
        /// default constructor
        vMapArray();
        /// constructor
        vMapArray(int n, const ConfigFile& config);
        /// copy constructor
        vMapArray(const vMapArray&);
        /// destructor
        virtual ~vMapArray();
        
        /// initializer
        void initialize(int n, const ConfigFile& config);
        /// assignment operator
        vMapArray& operator=(const visualMap&);
        /// clone method
        vMapArray* clone() const;

        /// Data functions
        void addLandmark(const landmark& mark);

        /// data association, return a NEW copy of the matched mark in the map, the returned mark must be DELETE
        landmark* dataAssociation(const matrix& ZT, const matrix& Rt, const pos3d& globalpos, const pose& robotPos, const matrix& H, const matrix& Htrans, const float* desc) ;
        /// return return a NEW copy of the landmark with descriptor desc, the returned mark must be DELETE
        landmark* getLandmarkByDesc(const float* desc) ;
        /// return return a NEW copy of the landmark with id number, the returned mark must be DELETE
        landmark* getLandmarkById(int number);
        /// changes a landmark 
        void changeLandmark(int id, const landmark& mark);
        /// changes a landmark in the kdtree
        void changeLastReturnedLandmark(const landmark& mark);

        /// clear the map
        void clear();
        /// saves the map
        void saveMap(const char* str);
        /// draw the features in an opencv image
        void drawMarks (IplImage& im, float xorigin, float yorigin, float resolution) ;

        /// return the last returned id
        int returnLastReturnedId() const;


//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////
};

inline int vMapArray::returnLastReturnedId() const      {return lastRetId;}
inline vMapArray* vMapArray::clone() const                      {return new vMapArray(*this);};

#endif