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CObservationComment.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 CObservationComment_H
00029 #define CObservationComment_H
00030 
00031 #include <mrpt/utils/CSerializable.h>
00032 #include <mrpt/slam/CObservation.h>
00033 
00034 namespace mrpt
00035 {
00036 namespace slam
00037 {
00038         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationComment , CObservation, OBS_IMPEXP)
00039 
00040 
00041         /** This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file.
00042          *   There should be only one of this observations in a rawlog file, and it's recommended to insert/modify them from the application RawlogViewer.
00043          *
00044          * \sa CObservation
00045          */
00046         class OBS_IMPEXP CObservationComment : public CObservation
00047         {
00048                 // This must be added to any CSerializable derived class:
00049                 DEFINE_SERIALIZABLE( CObservationComment )
00050 
00051          public:
00052                 /** Constructor.
00053                  */
00054                 CObservationComment(  ) :
00055                         text()
00056                 { }
00057 
00058                 /** Destructor
00059                   */
00060                 virtual ~CObservationComment()
00061                 { }
00062 
00063                 /** The text block. */
00064                 std::string text;
00065 
00066                 /** A general method to retrieve the sensor pose on the robot.
00067                   *  Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
00068                   * \sa setSensorPose
00069                   */
00070                 void getSensorPose( CPose3D & ) const {  }
00071 
00072 
00073                 /** A general method to change the sensor pose on the robot.
00074                   *  Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
00075                   * \sa getSensorPose
00076                   */
00077                 void setSensorPose( const CPose3D & ) {  }
00078 
00079         }; // End of class def.
00080 
00081         } // End of namespace
00082 } // End of namespace
00083 
00084 #endif



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