#ifndef LINEAR_ASSIGNMENT_H
#define LINEAR_ASSIGNMENT_H
#include "../encoder_tools/dataType.h"
#include "tracker.h"

#define INFTY_COST 1e5
class tracker;
class linear_assignment
{
    linear_assignment();
    linear_assignment(const linear_assignment& );
    linear_assignment& operator=(const linear_assignment&);
    static linear_assignment* instance;

public:
    static linear_assignment* getInstance();
    ~linear_assignment();

    TRACHER_MATCHD matching_cascade(tracker* distance_metric,
            tracker::GATED_METRIC_FUNC distance_metric_func,
            float max_distance,
            int cascade_depth,
            std::vector<std::shared_ptr<Track>>& tracks,
            const DETECTIONS& detections,
            std::vector<int> &track_indices,
            std::vector<int> detection_indices = std::vector<int>());
    TRACHER_MATCHD min_cost_matching(
            tracker* distance_metric,
            tracker::GATED_METRIC_FUNC distance_metric_func,
            float max_distance,
            std::vector<std::shared_ptr<Track>>& tracks,
            const DETECTIONS& detections,
            std::vector<int>& track_indices,
            std::vector<int>& detection_indices);
    DYNAMICM gate_cost_matrix(
            KalmFilter* kf,
            DYNAMICM& cost_matrix,
            std::vector<std::shared_ptr<Track>>& tracks,
            const DETECTIONS& detections,
            const std::vector<int>& track_indices,
            const std::vector<int>& detection_indices,
            float gated_cost = INFTY_COST,
            bool only_position = false);
};

#endif // LINEAR_ASSIGNMENT_H