TNodeAnnotations.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/core/exceptions.h>
#include <mrpt/graphs/TNodeID.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/serialization/stl_serialization.h>
#include <cstdint>
#include <iostream>
#include <string>

namespace mrpt::graphs::detail
{
/**\brief  Abstract class from which NodeAnnotations related classes can be
 * implemented
 *
 * \ingroup mrpt_graphs_grp
 */
struct TNodeAnnotations
{
    using self_t = TNodeAnnotations;

    /**\brief Constructor */
    TNodeAnnotations() = default;
    /**\brief Destructor */
    virtual ~TNodeAnnotations() = default;
    /**\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{false};
};

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

/**\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; }
    DECLARE_TTYPENAME_CLASSNAME(mrpt::graphs::detail::TNodeAnnotationsEmpty)
};
}  // namespace mrpt::graphs::detail