MRPT  1.9.9
CMetricMapEvents.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 #include <mrpt/poses/poses_frwds.h>
12 #include <mrpt/system/mrptEvent.h>
13 
14 namespace mrpt
15 {
16 namespace obs
17 {
18 class CObservation;
19 }
20 namespace maps
21 {
22 class CMetricMap;
23 
24 /** Event emitted by a metric up upon call of clear()
25  * \sa CMetricMap
26  * \ingroup mrpt_obs_grp
27  */
29 {
30  protected:
31  /** Just to allow this class to be polymorphic */
32  void do_nothing() override {}
33 
34  public:
36  : source_map(smap)
37  {
38  }
39 
41 };
42 
43 /** Event emitted by a metric up upon a succesful call to insertObservation()
44  * \sa CMetricMap
45  * \ingroup mrpt_obs_grp
46  */
48 {
49  protected:
50  /** Just to allow this class to be polymorphic */
51  void do_nothing() override {}
52 
53  public:
55  const mrpt::maps::CMetricMap* smap, const mrpt::obs::CObservation* obs,
56  const mrpt::poses::CPose3D* robotPose)
57  : source_map(smap), inserted_obs(obs), inserted_robotPose(robotPose)
58  {
59  }
60 
64 };
65 
66 } // namespace maps
67 } // namespace mrpt
void do_nothing() override
Just to allow this class to be polymorphic.
The basic event type for the observer-observable pattern in MRPT.
Definition: mrptEvent.h:31
const mrpt::maps::CMetricMap * source_map
mrptEventMetricMapInsert(const mrpt::maps::CMetricMap *smap, const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose)
mrptEventMetricMapClear(const mrpt::maps::CMetricMap *smap)
void do_nothing() override
Just to allow this class to be polymorphic.
Event emitted by a metric up upon a succesful call to insertObservation()
const mrpt::obs::CObservation * inserted_obs
Event emitted by a metric up upon call of clear()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Declares a virtual base class for all metric maps storage classes.
Definition: CMetricMap.h:52
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:84
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
const mrpt::maps::CMetricMap * source_map
const mrpt::poses::CPose3D * inserted_robotPose



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