cone_evaluator.hpp

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#pragma once
#include <gtest/gtest_prod.h>
 
#include <cone_validator/cone_validator.hpp>
#include <limits>
#include <rclcpp/rclcpp.hpp>
#include <utils/cluster.hpp>
#include <utils/evaluator_parameters.hpp>
#include <utils/ground_grid.hpp>
 
class ConeEvaluator {
public:
  ConeEvaluator(std::shared_ptr<EvaluatorParameters> params);
 
  bool evaluateCluster(Cluster& cluster, const GroundGrid& ground_grid);
 
private:
  std::shared_ptr<EvaluatorParameters> params_;
 
  bool close_to_ground(Cluster& cluster, const GroundGrid& ground_grid) const;
 
  bool cylinder_fits_cone(Cluster& cluster) const;
 
  bool npoints_valid(Cluster& cluster) const;
 
  FRIEND_TEST(ConeEvaluatorTest, CloseToGroundTrue);
  FRIEND_TEST(ConeEvaluatorTest, CloseToGroundFalse);
  FRIEND_TEST(ConeEvaluatorTest, CylinderFitsConeTrue);
  FRIEND_TEST(ConeEvaluatorTest, CylinderFitsConeFalse);
  FRIEND_TEST(ConeEvaluatorTest, NPointsValidTrue);
  FRIEND_TEST(ConeEvaluatorTest, NPointsValidFalse);
};