TNodeProps.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef TNODEPROPS_H
#define TNODEPROPS_H

#include <mrpt/obs/CObservation2DRangeScan.h>
#include <string>

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

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

        void getAsString(std::string* str) const
        {
                ASSERT_(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() << endl;
                return o;
        }
};
}
}
}  // end of namespaces

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