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CAction.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 CAction_H
00029 #define CAction_H
00030 
00031 #include <mrpt/utils/CSerializable.h>
00032 #include <mrpt/system/datetime.h>
00033 
00034 #include <mrpt/obs/link_pragmas.h>
00035 
00036 
00037 namespace mrpt
00038 {
00039 namespace slam
00040 {
00041         // This must be added to any CSerializable derived class:
00042         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CAction, mrpt::utils::CSerializable, OBS_IMPEXP )
00043 
00044         /** Declares a class for storing a robot action. It is used in mrpt::slam::CRawlog,
00045          *    for logs storage and particle filter based simulations.
00046          *  See derived classes for implementations.
00047      *
00048          * \sa CActionCollection, CRawlog
00049          */
00050         class OBS_IMPEXP CAction : public mrpt::utils::CSerializable
00051         {
00052                 // This must be added to any CSerializable derived class:
00053                 DEFINE_VIRTUAL_SERIALIZABLE( CAction )
00054 
00055                 /** Default constructor
00056                   */
00057                 CAction();
00058 
00059                 /** Constructor
00060                   */
00061                 virtual ~CAction();
00062 
00063                  /** The associated time-stamp.
00064                    *  This was added at 2-Dec-2007, new serialization versions have been added to derived classes to manage this time-stamp.
00065                    *  Prior versions will be read as having a INVALID_TIMESTAMP value.
00066                   */
00067                 mrpt::system::TTimeStamp        timestamp;
00068 
00069         }; // End of class def.
00070 
00071 
00072         } // End of namespace
00073 } // End of namespace
00074 
00075 #endif



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