TNodeProps.h

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/* +---------------------------------------------------------------------------+
         |                     Mobile Robot Programming Toolkit (MRPT)               |
         |                          http://www.mrpt.org/                             |
         |                                                                           |
         | Copyright (c) 2005-2016, 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::CObservation2DRangeScanPtr 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.present()) {
                        *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 */