TNodeProps.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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/obs/CObservation2DRangeScan.h>

#include <string>

namespace mrpt::graphslam::detail
{
template <class GRAPH_T>
struct TNodeProps
{
    typename GRAPH_T::global_pose_t pose;
    mrpt::obs::CObservation2DRangeScan::Ptr scan;

    TNodeProps() = default;
    TNodeProps(const TNodeProps& o) { *this = o; }

    TNodeProps operator=(const TNodeProps& other)
    {
        this->pose = other.pose;
        this->scan = other.scan;
        return *this;
    }

    void getAsString(std::string* str) const
    {
        ASSERTDEB_(str);
        str->clear();
        *str += mrpt::format("Pose: %s|\t", this->pose.asString().c_str());
        if (this->scan)
        {
            *str += mrpt::format("Scan #%lu", this->scan->getScanSize());
        }
        else
        {
            *str += "Scan: NONE";
        }
        *str += "\n";
    }
    std::string getAsString() const
    {
        std::string str;
        this->getAsString(&str);
        return str;
    }

    friend std::ostream& operator<<(std::ostream& o, const TNodeProps& obj)
    {
        o << obj.getAsString() << std::endl;
        return o;
    }
};
}  // namespace mrpt::graphslam::detail