Simplify design

source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt

@@ -11,18 +11,16 @@ armarx_add_component(dynamic_scene_provider
         ArVizDrawer.cpp
         HumanTracker.cpp
         HumanGrouper.cpp
-        DistanceFunctionDecorator.cpp
-        OrientationDecorator.cpp
         EuclideanDistance.cpp
+        OrientationDistance.cpp
     HEADERS
         Component.h
         ArVizDrawer.h
         HumanTracker.h
         HumanGrouper.h
         DistanceFunction.h
-        DistanceFunctionDecorator.h
-        OrientationDecorator.h
         EuclideanDistance.h
+        OrientationDistance.h
     DEPENDENCIES
         # ArmarXCore
         ArmarXCore

source/armarx/navigation/components/dynamic_scene_provider/DistanceFunction.h

 #pragma once
 
-template <typename T>
-class DistanceFunction
+#include <armarx/navigation/human/types.h>
+
+
+namespace armarx::navigation::components::dynamic_scene_provider
 {
-public:
-    DistanceFunction();
-    virtual double computeDistance(T& t1, T& t2) = 0;
-};
+    using Human = armarx::navigation::human::Human;
+
+    class DistanceFunction
+    {
+    public:
+        DistanceFunction();
+        virtual ~DistanceFunction();
+        virtual double computeDistance(Human &h1, Human &h2) = 0;
+    };
+}
 

source/armarx/navigation/components/dynamic_scene_provider/DistanceFunctionDecorator.cpp

-#include "DistanceFunctionDecorator.h"
-
-namespace armarx::navigation::components::dynamic_scene_provider
-{
-    template<typename T>
-    DistanceFunctionDecorator<T>::DistanceFunctionDecorator(DistanceFunction<T> &subject)
-    {
-        this->subject = subject;
-    }
-
-    template<typename T>
-    double DistanceFunctionDecorator<T>::computeDistance(T &t1, T &t2)
-    {
-        return subject.computeDistance(t1, t2);
-    }
-}

source/armarx/navigation/components/dynamic_scene_provider/EuclideanDistance.cpp

-#include "DistanceFunction.h"
 #include "EuclideanDistance.h"
 
-#include <armarx/navigation/human/types.h>
-
 namespace armarx::navigation::components::dynamic_scene_provider
 {
-    using Human = armarx::navigation::human::Human;
-
     double EuclideanDistance::computeDistance(Human &h1, Human &h2)
     {
         return (h1.pose.translation() - h2.pose.translation()).norm();

source/armarx/navigation/components/dynamic_scene_provider/EuclideanDistance.h

+#pragma once
+
 #include "DistanceFunction.h"
 
-#include "armarx/navigation/human/types.h"
-
-#pragma once
 
 namespace armarx::navigation::components::dynamic_scene_provider
 {
-    using Human = armarx::navigation::human::Human;
-
-    class EuclideanDistance : DistanceFunction<Human>
+    class EuclideanDistance : DistanceFunction
     {
     public:
-        EuclideanDistance();
+        EuclideanDistance(double min = 0);
         double computeDistance(Human &h1, Human &h2);
     };
 }

source/armarx/navigation/components/dynamic_scene_provider/OrientationDecorator.cpp

-#include "OrientationDecorator.h"
-
-
-
-namespace armarx::navigation::components::dynamic_scene_provider
-{
-    OrientationDecorator::OrientationDecorator(DistanceFunction<Human> &subject, double influenceFactor)
-    : DistanceFunctionDecorator<Human>(subject)
-    {
-        this->influenceFactor = influenceFactor;
-    }
-
-    double OrientationDecorator::computeDistance(Human &t1, Human &t2)
-    {
-        double orientationFactor = 1; // TODO: implement
-        return 0;
-    }
-}

source/armarx/navigation/components/dynamic_scene_provider/OrientationDecorator.h

-#pragma once
-
-#include "DistanceFunctionDecorator.h"
-
-#include <armarx/navigation/human/types.h>
-
-
-namespace armarx::navigation::components::dynamic_scene_provider
-{
-    using Human = armarx::navigation::human::Human;
-
-    class OrientationDecorator : DistanceFunctionDecorator<Human>
-    {
-    public:
-        OrientationDecorator(DistanceFunction<Human> &subject, double influenceFactor);
-
-        virtual double computeDistance(Human &t1, Human &t2);
-
-    private:
-        double influenceFactor;
-    };
-}
-

source/armarx/navigation/components/dynamic_scene_provider/OrientationDistance.cpp

+#include "OrientationDistance.h"
+
+namespace armarx::navigation::components::dynamic_scene_provider
+{
+
+
+    OrientationDistance::OrientationDistance(double max, double min)
+    {
+
+    }
+
+double OrientationDistance::computeDistance(Human &h1, Human &h2)
+    {
+
+    }
+}
+

source/armarx/navigation/components/dynamic_scene_provider/DistanceFunctionDecorator.h → source/armarx/navigation/components/dynamic_scene_provider/OrientationDistance.h

+#pragma once
+
 #include "DistanceFunction.h"
 
-#pragma once
 
 namespace armarx::navigation::components::dynamic_scene_provider
 {
-    template <typename T>
-    class DistanceFunctionDecorator : DistanceFunction<T>
+    class OrientationDistance : DistanceFunction
     {
     public:
-        DistanceFunctionDecorator(DistanceFunction<T>& subject);
-        virtual double computeDistance(T& t1, T& t2);
-    private:
-        DistanceFunction<T> subject;
+        OrientationDistance(double max = 1, double min = 0);
+        virtual double computeDistance(Human &h1, Human &h2);
     };
 }