TNodeAnnotations.h

Go to the documentation of this file.

#ifndef TNODEANNOTATIONS_H
#define TNODEANNOTATIONS_H

#include <mrpt/utils/stl_serialization.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/types_simple.h>
#include <mrpt/utils/mrpt_macros.h>
#include <iostream>
#include <string>

namespace mrpt { namespace graphs { namespace detail {

/**\brief  Abstract class from which NodeAnnotations related classes can be
 * implemented
 *
 * \ingroup mrpt_graphs_grp
 */
struct TNodeAnnotations {
        typedef TNodeAnnotations self_t;

        /**\brief Constructor */
        TNodeAnnotations():
                is_node_annots_empty(false)
        { }
        /**\brief Destructor */
        virtual ~TNodeAnnotations() { }
        /**\brief Generic copy constructor */
        TNodeAnnotations(const TNodeAnnotations& other) { }

        virtual void getAnnotsAsString(std::string* s) const {
                ASSERT_(s);
        }
        std::string retAnnotsAsString() const {
                std::string s;
                this->getAnnotsAsString(&s);
                return s;
        }

        virtual bool operator==(const TNodeAnnotations& other) const {
                return true;
        }
        virtual bool operator!=(const TNodeAnnotations& other) const {
                return (!(*this == other));
        }

        /**\brief Create and return a copy of the TNodeAnnotations object at hand.
         *
         * \warning Caller is responsible of afterwards deleting the object which is
         * allocaed in heap
         */
        TNodeAnnotations* getCopyOfAnnots() const {return new TNodeAnnotations();}
        /**\brief Set the properties of the current TNodeAnnotations object
         *
         * \return True if setting the annotations part is successful.
         */
        bool setAnnots(const self_t& other) {
                return true; }
        /**\brief Indicates if this is a dummy TNodeAnnotations struct or if it does
         * contain meaningful data
         */
        bool is_node_annots_empty;
};

/////////////////////////////////////////////////////////////////////////////

/**\brief Struct to be used as the NODE_ANNOTATIONS template argument in
 * CNetworkOfPoses class instances for use in multiple-robot SLAM applications
 *
 * \ingroup mrpt_graphs_grp
 */
struct TNodeAnnotationsEmpty : public TNodeAnnotations {
        TNodeAnnotationsEmpty() {
                this->is_node_annots_empty = true;
        }

};

} } } // end of namespaces

// declare as ttypename - in mrpt::utils namespace
namespace mrpt { namespace utils {
        MRPT_DECLARE_TTYPENAME(mrpt::graphs::detail::TNodeAnnotationsEmpty)
} } // end of namespaces

#endif /* end of include guard: TNODEANNOTATIONS_H */