#ifndef PERCEPTIONOUTPUT_H
#define PERCEPTIONOUTPUT_H

namespace iv {
namespace Perception {
class Point3f
{
public:
  float x;
  float y;
  float z;
};
class Point2f
{
public:
    float x;
    float y;
};

class PerceptionOutput
{
public:
    PerceptionOutput();
    Point3f location; /**<position of bbox center, measured in lidar or vehicle coordinate system, according to user's setting*/
    Point3f direction; /**<direction of bbox, vector format, measured by the length edge direction, in lidar or vehicle coordinate system, according to user's setting*/
    float yaw; /**<direction of bbox with roll pitch raw depictions, for simplicity, just yaw is usefull, coincident with "direction"*/
    Point3f size; /**<size of bbox, length, width, height of box, length is always >= width*/
    Point3f nearest_point; /**<position of nearest corner of bbox, measured in lidar or vehicle coordinate system, according to user's setting*/

    int tracker_id; /**<tracker id for objects, same object in sequtial frames share the same id*/
    float track_prob; /**<tracking association probability, confidence level (0~1), the higher, the better.*/

    Point2f velocity; /**<relative speed of obstacles, measured in local vehicle coordinate system*/
    Point2f acceleration; /**<relative acceleration of obstacles, measured in local vehicle coordinate system*/

    Point2f velocity_abs; /**<speed of obstacles, measured in global coordinate system*/
    Point2f acceleration_abs; /**<acceleration of obstacles, measured in global coordinate system*/
    float angle_velocity; /**< angle velocity in radian*/

    float life; /**<total current tracker life time, including visible and invisible ones, with unit seconds*/
    float visible_life; /**<current tracker life time only considering visible tracks, with unit seconds*/
    float robustness; /**< robustness analyzed by a historical sequential tracker frames, the smaller, the better.*/

    int label; /**<type of obstacles, like pedestrain, bike, car, truck*/
    float label_confidence; /**< confidence of classification*/

    bool is_background; /**< if is background, the flag will be set true. */
};

}

}


#endif // PERCEPTIONOUTPUT_H