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CMetricMapEvents.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CMetricMapEvents_H
00029 #define CMetricMapEvents_H
00030 
00031 #include <mrpt/utils/mrptEvent.h>
00032 
00033 namespace mrpt
00034 {
00035         namespace poses { class CPose3D; }
00036         namespace slam
00037         {
00038                 class CObservation;
00039                 class CMetricMap;
00040 
00041                 /** Event emitted by a metric up upon call of clear()
00042                   * \sa CMetricMap
00043                   */
00044                 class mrptEventMetricMapClear : public mrpt::utils::mrptEvent
00045                 {
00046                 protected:
00047                         virtual void do_nothing() { } //!< Just to allow this class to be polymorphic
00048                 public:
00049                         inline mrptEventMetricMapClear(const CMetricMap   *smap) : source_map(smap) {}
00050 
00051                         const CMetricMap  *source_map;
00052                 };
00053 
00054                 /** Event emitted by a metric up upon a succesful call to insertObservation()
00055                   * \sa CMetricMap
00056                   */
00057                 class mrptEventMetricMapInsert : public mrpt::utils::mrptEvent
00058                 {
00059                 protected:
00060                         virtual void do_nothing() { } //!< Just to allow this class to be polymorphic
00061                 public:
00062                         inline mrptEventMetricMapInsert(const CMetricMap   *smap, const CObservation *obs,const CPose3D *robotPose ) : source_map(smap), inserted_obs(obs), inserted_robotPose(robotPose) { } 
00063 
00064                         const CMetricMap   *source_map;
00065                         const CObservation *inserted_obs;
00066                         const CPose3D      *inserted_robotPose;
00067 
00068                 };
00069 
00070         } // End of namespace
00071 } // End of namespace
00072 
00073 #endif



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