CHolonomicLogFileRecord.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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 CHolonomicLogFileRecord_H
#define CHolonomicLogFileRecord_H

#include <mrpt/nav/link_pragmas.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrixD.h>

namespace mrpt
{
  namespace nav
  {
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(CHolonomicLogFileRecord, mrpt::utils::CSerializable, NAV_IMPEXP)

        /** \addtogroup nav_holo Holonomic navigation methods
          * \ingroup mrpt_nav_grp
          * @{ */

        /** A base class for log records for different holonomic navigation methods.
         *
         * \sa CReactiveNavigationSystem, CHolonomicLogFileRecord
         */
        class NAV_IMPEXP CHolonomicLogFileRecord : public utils::CSerializable
        {
                DEFINE_VIRTUAL_SERIALIZABLE( CHolonomicLogFileRecord )
        public:
                std::vector<std::vector<double> >  dirs_eval; //!< Final [N-1] and earlier stages [0...N-1] evaluation scores for each direction, in the same order of TP-Obstacles. May be not filled by all methods.

                virtual const mrpt::math::CMatrixD * getDirectionScores() const { return NULL; }
        };
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(CHolonomicLogFileRecord, mrpt::utils::CSerializable, NAV_IMPEXP)

          /** @} */
  }
}


#endif