TMRSlamNodeAnnotations.h

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#ifndef TMRSLAMNODEANNOTATIONS_H
#define TMRSLAMNODEANNOTATIONS_H
 
#include <mrpt/graphs/TNodeAnnotations.h>
#include <mrpt/utils/types_simple.h>
#include <sstream>
#include <string>
 
namespace mrpt { namespace graphs { namespace detail {
 
/**\brief Struct to be used as the NODE_ANNOTATIONS template argument in
 * CNetworkOfPoses class instances for use in multiple-robot SLAM applications
 *
 * \ingroup mrpt_graphs_grp
 */
struct TMRSlamNodeAnnotations : public TNodeAnnotations {
        typedef TNodeAnnotations parent_t;
        typedef TMRSlamNodeAnnotations self_t;
 
 
        TMRSlamNodeAnnotations():
                agent_ID_str(""),
                nodeID_loc(INVALID_NODEID) { }
 
        TMRSlamNodeAnnotations(const TMRSlamNodeAnnotations& other):
                parent_t(other)
        {
                this->setAnnots(other);
        }
 
        TNodeAnnotations* getCopyOfAnnots() const {
                self_t* annots = new self_t(*this);
                return annots;
        }
        bool setAnnots(const parent_t& other) {
                parent_t::setAnnots(other);
 
                bool res;
                const self_t* mr_slam_annots = dynamic_cast<const self_t*>(&other);
                if (mr_slam_annots) {
                        this->agent_ID_str = mr_slam_annots->agent_ID_str;
                        this->nodeID_loc = mr_slam_annots->nodeID_loc;
                        res = true;
                }
                else {
                        res = false;
                }
 
                return res;
        }
 
        bool operator==(const TNodeAnnotations& other) const {
                const TMRSlamNodeAnnotations* mr_slam_annots =
                        dynamic_cast<const TMRSlamNodeAnnotations*>(&other);
 
                bool res = false;
                if (mr_slam_annots) {
                        res = (
                                        this->agent_ID_str == mr_slam_annots->agent_ID_str &&
                                        this->nodeID_loc == mr_slam_annots->nodeID_loc);
                }
 
                return res;
        }
 
        void getAnnotsAsString(std::string* s) const {
                parent_t::getAnnotsAsString(s);
 
                std::stringstream ss;
                ss << "agent_ID_str: " << agent_ID_str << "| "
                        << "nodeID_loc: " << nodeID_loc;
 
                s->clear();
                *s = ss.str();
        }
 
        /**\brief string identifier of the SLAM Agent that initially registered this node. */
        std::string agent_ID_str;
        /**\brief ID of node in the graph of the SLAM Agent that initially registered
         * this node.
         *
         * \note Field is handy especially in cases where one SLAM agent communicates
         * its local graph to another agent and we still want to keep track of the
         * node ID in the former's graph.
         */
        mrpt::utils::TNodeID nodeID_loc;
 
 
};
 
} } } // end of namespaces
 
// declare as ttypename - in mrpt::utils namespace
namespace mrpt { namespace utils {
 
        MRPT_DECLARE_TTYPENAME(mrpt::graphs::detail::TMRSlamNodeAnnotations);
 
} } // end of namespaces
 
#endif /* end of include guard: TMRSLAMNODEANNOTATIONS_H */