/// <summary>
/// Returns an instance of the requested feature measurement model (using new).
/// Returns null if there was no match.
/// </summary>
/// <param name="type"></param>
/// <param name="motion_model"></param>
/// <returns></returns>
public override Feature_Measurement_Model create_model(String type, Motion_Model motion_model, float MAXIMUM_ANGLE_DIFFERENCE)
{
// Try creating each model that we can and see if the name is the same
// std::cout << "Creating a " << type << " feature measurement model" << std::endl;
Feature_Measurement_Model pModel;
pModel = new Fully_Init_Wide_Point_Feature_Measurement_Model(motion_model, MAXIMUM_ANGLE_DIFFERENCE);
if (pModel.feature_type == type)
{
return(pModel);
}
// The partially-initialised model also needs the fully-initalised
// one that we have just created. Don't delete it - just store it
Feature_Measurement_Model pFullModel = pModel;
pModel = new Line_Init_Wide_Point_Feature_Measurement_Model(motion_model, pFullModel);
if (pModel.feature_type == type)
{
return(pModel);
}
else
{
pModel = null;
pFullModel = null;
}
return(null);
}
/// <summary>
/// Returns an instance of the requested feature measurement model (using new).
/// Returns null if there was no match.
/// </summary>
/// <param name="type"></param>
/// <param name="motion_model"></param>
/// <returns></returns>
public override Feature_Measurement_Model create_model(String type, Motion_Model motion_model, float MAXIMUM_ANGLE_DIFFERENCE)
{
// Try creating each model that we can and see if the name is the same
// std::cout << "Creating a " << type << " feature measurement model" << std::endl;
Feature_Measurement_Model pModel;
pModel = new Fully_Init_Wide_Point_Feature_Measurement_Model(motion_model, MAXIMUM_ANGLE_DIFFERENCE);
if (pModel.feature_type == type)
return pModel;
// The partially-initialised model also needs the fully-initalised
// one that we have just created. Don't delete it - just store it
Feature_Measurement_Model pFullModel = pModel;
pModel = new Line_Init_Wide_Point_Feature_Measurement_Model(motion_model, pFullModel);
if (pModel.feature_type == type)
return pModel;
else
{
pModel = null;
pFullModel = null;
}
return null;
}
