CObject.h File Reference

#include <mrpt/system/memory.h>
#include <mrpt/utils/safe_pointers.h>
#include <vector>
#include <memory>

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Classes
struct	mrpt::utils::TRuntimeClassId
	A structure that holds runtime class type information. More...
struct	mrpt::utils::CLASSINIT
	Auxiliary structure used for CObject-based RTTI. More...
class	mrpt::utils::CObject
	The virtual base class of all MRPT classes with a unified RTTI system. More...
struct	mrpt::utils::CObjectPtr
struct	mrpt::ptr_cast< CAST_TO >
	Converts a smart pointer Base::Ptr to Derived::Ptr, in a way compatible with MRPT >=1.5.4 and MRPT 2.x series. More...

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::utils
	Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.

Functions
void BASE_IMPEXP	mrpt::utils::registerAllPendingClasses ()
	Register all pending classes - to be called just before de-serializing an object, for example. More...

RTTI classes and functions
#define	CLASS_ID(class_name)   static_cast<const mrpt::utils::TRuntimeClassId*>(&class_name::class##class_name)
	Access to runtime class ID for a defined class name. More...
#define	CLASS_ID_NAMESPACE(class_name, namespaceName)   static_cast<const mrpt::utils::TRuntimeClassId*>(&namespaceName::class_name::class##class_name)
	Access to runtime class ID for a defined class name. More...
#define	CLASS_ID_TEMPLATE(class_name, T)   static_cast<const mrpt::utils::TRuntimeClassId*>(& template <class T> class_name<T>::class##class_name)
	Access to runtime class ID for a defined template class name. More...
#define	IS_CLASS(ptrObj, class_name)   ((ptrObj)->GetRuntimeClass()==CLASS_ID(class_name))
	Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is of the given class. More...
#define	IS_DERIVED(ptrObj, class_name)   ((ptrObj)->GetRuntimeClass()->derivedFrom(CLASS_ID(class_name)))
	Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is an instance of the given class or any of its derived classes. More...
#define	DEFINE_MRPT_OBJECT_CUSTOM_LINKAGE(class_name, _STATIC_LINKAGE_, _VIRTUAL_LINKAGE_)
	Just like DEFINE_MRPT_OBJECT but with DLL export/import linkage keywords. More...
#define	DEFINE_MRPT_OBJECT(class_name)   DEFINE_MRPT_OBJECT_CUSTOM_LINKAGE(class_name, static /*none*/, virtual /*none*/)
	This declaration must be inserted in all CObject classes definition, within the class declaration. More...
#define	DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)   DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(class_name, base_name, _LINKAGE_ class_name)
#define	DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)   DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2(class_name, base_name, _LINKAGE_ class_name)
#define	DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_NO_LINKAGE(class_name, base_name)   DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(class_name, base_name, class_name)
#define	DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_NO_LINKAGE(class_name, base_name)   DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2(class_name, base_name, class_name)
#define	DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(class_name, base_name, class_name_LINKAGE_)
	This declaration must be inserted in all CObject classes definition, before the class declaration. More...
#define	DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2(class_name, base_name, class_name_LINKAGE_)
	This declaration must be inserted in all CObject classes definition, after the class declaration. More...
#define	DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE(class_name, _LINKAGE_)   DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE2(class_name, _LINKAGE_ class_name)
#define	DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE(class_name, _LINKAGE_)   DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE2(class_name, _LINKAGE_ class_name)
#define	DEFINE_MRPT_OBJECT_PRE_NO_LINKAGE(class_name)   DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE2(class_name, class_name)
#define	DEFINE_MRPT_OBJECT_POST_NO_LINKAGE(class_name)   DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE2(class_name, class_name)
#define	DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE2(class_name, class_name_LINKAGE_)   struct class_name_LINKAGE_##Ptr;
	This declaration must be inserted in all CObject classes definition, before the class declaration. More...
#define	DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE2(class_name, class_name_LINKAGE_)
	This declaration must be inserted in all CObject classes definition, after the class declaration. More...
#define	DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE(class_name, base_name)   DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, BASE_IMPEXP )
	This declaration must be inserted in all CObject classes definition, before the class declaration. More...
#define	DEFINE_MRPT_OBJECT_PRE(class_name)   DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE(class_name, BASE_IMPEXP )
	This declaration must be inserted in all CObject classes definition, before the class declaration. More...
#define	DEFINE_MRPT_OBJECT_POST(class_name)   DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE(class_name, BASE_IMPEXP )
#define	IMPLEMENTS_MRPT_OBJECT(class_name, base, NameSpace)
	This must be inserted in all CObject classes implementation files. More...
#define	DEFINE_VIRTUAL_MRPT_OBJECT(class_name)
	This declaration must be inserted in virtual CSerializable classes definition: More...
#define	IMPLEMENTS_VIRTUAL_MRPT_OBJECT(class_name, base_class_name, NameSpace)
	This must be inserted as implementation of some required members for virtual CSerializable classes: More...
typedef safe_ptr< TRuntimeClassId >	mrpt::utils::TRuntimeClassIdPtr
	A wrapper class for a "TRuntimeClassId *", well-defined with respect to copy operators and constructors. More...
class BASE_IMPEXP	mrpt::utils::CObject
struct BASE_IMPEXP	mrpt::utils::CObjectPtr
	A smart pointer to a CObject object. More...
void BASE_IMPEXP	mrpt::utils::registerClass (const mrpt::utils::TRuntimeClassId *pNewClass)
	Register a class into the MRPT internal list of "CSerializable" descendents. More...
void BASE_IMPEXP	mrpt::utils::registerClassCustomName (const char *customName, const TRuntimeClassId *pNewClass)
	Mostly for internal use within mrpt sources, to handle exceptional cases with multiple serialization names for backward compatibility (CMultiMetricMaps, CImage,...) More...
std::vector< const mrpt::utils::TRuntimeClassId * > BASE_IMPEXP	mrpt::utils::getAllRegisteredClasses ()
	Returns a list with all the classes registered in the system through mrpt::utils::registerClass. More...
std::vector< const TRuntimeClassId * > BASE_IMPEXP	mrpt::utils::getAllRegisteredClassesChildrenOf (const TRuntimeClassId *parent_id)
	Like getAllRegisteredClasses(), but filters the list to only include children clases of a given base one. More...
const TRuntimeClassId BASE_IMPEXP *	mrpt::utils::findRegisteredClass (const std::string &className)
	Return info about a given class by its name, or NULL if the class is not registered. More...

Macro Definition Documentation

CLASS_ID

#define CLASS_ID

(

class_name

)

static_cast<const mrpt::utils::TRuntimeClassId*>(&class_name::class##class_name)

Access to runtime class ID for a defined class name.

Definition at line 82 of file CObject.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::hwdrivers::CGenericSensor::appendObservations(), mrpt::poses::CPoint2DPDFGaussian::bayesianFusion(), mrpt::poses::CPointPDFGaussian::bayesianFusion(), mrpt::poses::CPose3DPDFSOG::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPointPDFSOG::bayesianFusion(), mrpt::poses::CPosePDFSOG::bayesianFusion(), mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin(), mrpt::maps::CBeaconMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeMatchingWith2D(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::poses::CPose3DPDFParticles::copyFrom(), mrpt::poses::CPosePDFParticles::copyFrom(), mrpt::poses::CPose3DPDFSOG::copyFrom(), mrpt::poses::CPointPDFSOG::copyFrom(), mrpt::poses::CPosePDFSOG::copyFrom(), mrpt::poses::CPose3DPDF::createFrom2D(), mrpt::maps::CBeaconMap::determineMatching2D(), mrpt::maps::CPointsMap::determineMatching2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::obs::CRawlog::findObservationsByClassInRange(), mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::obs::CRawlog::getAsAction(), mrpt::obs::CRawlog::getAsObservation(), mrpt::obs::CRawlog::getAsObservations(), mrpt::obs::CActionCollection::getBestMovementEstimation(), mrpt::obs::CActionCollection::getMovementEstimationByType(), mrpt::utils::CObject::GetRuntimeClass(), mrpt::obs::CRawlog::getType(), mrpt::obs::CRawlog::iterator::getType(), mrpt::obs::CRawlog::const_iterator::getType(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::maps::COccupancyGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::CLandmarksMap::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::poses::CPose3DPDFParticles::inverse(), mrpt::poses::CPose3DQuatPDFGaussian::inverse(), mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), mrpt::poses::CPose3DPDFSOG::inverse(), mrpt::poses::CPose3DPDFGaussianInf::inverse(), mrpt::poses::CPosePDFParticles::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPose3DPDFGaussian::inverse(), mrpt::poses::CPosePDFSOG::inverse(), mrpt::obs::CRawlog::loadFromRawLogFile(), mrpt::topography::path_from_rtk_gps(), mrpt::detectors::CDetectorDoorCrossing::process(), mrpt::obs::CRawlog::readActionObservationPair(), mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile(), TEST(), and mrpt::hmtslam::CHMTSLAM::thread_LSLAM().

CLASS_ID_NAMESPACE

#define CLASS_ID_NAMESPACE	(		class_name,
			namespaceName
	)		static_cast<const mrpt::utils::TRuntimeClassId*>(&namespaceName::class_name::class##class_name)

Access to runtime class ID for a defined class name.

Definition at line 86 of file CObject.h.

Referenced by mrpt::opengl::CSetOfObjects::dumpListOfObjects(), mrpt::opengl::COpenGLViewport::dumpListOfObjects(), mrpt::opengl::CSetOfObjects::getByClass(), mrpt::opengl::COpenGLViewport::getByClass(), mrpt::opengl::CSetOfObjects::getByName(), mrpt::opengl::COpenGLViewport::getByName(), mrpt::opengl::CSetOfObjects::removeObject(), and mrpt::opengl::COpenGLViewport::removeObject().

CLASS_ID_TEMPLATE

#define CLASS_ID_TEMPLATE	(		class_name,
			T
	)		static_cast<const mrpt::utils::TRuntimeClassId*>(& template <class T> class_name<T>::class##class_name)

Access to runtime class ID for a defined template class name.

Definition at line 90 of file CObject.h.

DEFINE_MRPT_OBJECT

#define DEFINE_MRPT_OBJECT

(

class_name

)

DEFINE_MRPT_OBJECT_CUSTOM_LINKAGE(class_name, static /*none*/, virtual /*none*/)

This declaration must be inserted in all CObject classes definition, within the class declaration.

Definition at line 187 of file CObject.h.

DEFINE_MRPT_OBJECT_CUSTOM_LINKAGE

#define DEFINE_MRPT_OBJECT_CUSTOM_LINKAGE	(		class_name,
			_STATIC_LINKAGE_,
			_VIRTUAL_LINKAGE_
	)

Value:

/*! @name RTTI stuff  */ \
                        /*! @{  */ \
                protected: \
                        _STATIC_LINKAGE_ const mrpt::utils::TRuntimeClassId* _GetBaseClass(); \
                        _STATIC_LINKAGE_ mrpt::utils::CLASSINIT _init_##class_name;\
                public: \
                        /*! A typedef for the associated smart pointer */ \
                        typedef class_name##Ptr Ptr; \
                        typedef class_name##Ptr ConstPtr; \
                        _STATIC_LINKAGE_ mrpt::utils::TRuntimeClassId  class##class_name; \
                        _STATIC_LINKAGE_ const mrpt::utils::TRuntimeClassId *classinfo; \
                        _VIRTUAL_LINKAGE_ const mrpt::utils::TRuntimeClassId* GetRuntimeClass() const MRPT_OVERRIDE; \
                        _STATIC_LINKAGE_ mrpt::utils::CObject* CreateObject(); \
                        _STATIC_LINKAGE_ class_name##Ptr Create(); \
                        _VIRTUAL_LINKAGE_ mrpt::utils::CObject *duplicate() const MRPT_OVERRIDE; \
                        /*! @} */ \
                public: \
                        MRPT_MAKE_ALIGNED_OPERATOR_NEW \

Just like DEFINE_MRPT_OBJECT but with DLL export/import linkage keywords.

Note: The replication of macro arguments is to avoid errors with empty macro arguments

Definition at line 166 of file CObject.h.

DEFINE_MRPT_OBJECT_POST

#define DEFINE_MRPT_OBJECT_POST

(

class_name

)

DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE(class_name, BASE_IMPEXP )

Definition at line 264 of file CObject.h.

DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE

#define DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE	(		class_name,
			base_name,
			_LINKAGE_
	)		DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2(class_name, base_name, _LINKAGE_ class_name)

Definition at line 192 of file CObject.h.

DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2

#define DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2	(		class_name,
			base_name,
			class_name_LINKAGE_
	)

Value:

/*! The smart pointer type for the associated class */ \
                        struct class_name_LINKAGE_##Ptr : public base_name##Ptr \
                        { \
                                typedef class_name value_type; \
                                class_name##Ptr() { } \
                                explicit class_name##Ptr(class_name* p) : base_name##Ptr(p) { } \
                                class_name##Ptr(const mrpt::utils::CObjectPtr &p) { m_ptr = p.m_ptr; } \
                                /*! Return the internal plain C++ pointer */ \
                                class_name * pointer() { return dynamic_cast<class_name*>(m_ptr.get()); } \
                                class_name * get() { return dynamic_cast<class_name*>(m_ptr.get()); } \
                                /*! Return the internal plain C++ pointer (const) */ \
                                const class_name * pointer() const { return dynamic_cast<const class_name*>(m_ptr.get()); } \
                                const class_name * get() const { return dynamic_cast<const class_name*>(m_ptr.get()); } \
                                class_name* operator ->(void) { return dynamic_cast<class_name*>(m_ptr.get()); } \
                                const class_name* operator ->(void) const { return dynamic_cast<const class_name*>(m_ptr.get()); } \
                                class_name& operator *(void) { ASSERT_(m_ptr); return *dynamic_cast<class_name*>(m_ptr.get()); } \
                                const class_name& operator *(void) const { ASSERT_(m_ptr); return *dynamic_cast<const class_name*>(m_ptr.get()); } \
                        };

This declaration must be inserted in all CObject classes definition, after the class declaration.

Definition at line 204 of file CObject.h.

DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_NO_LINKAGE

#define DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_NO_LINKAGE	(		class_name,
			base_name
	)		DEFINE_MRPT_OBJECT_POST_CUSTOM_BASE_LINKAGE2(class_name, base_name, class_name)

Definition at line 196 of file CObject.h.

DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE

#define DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE	(		class_name,
			_LINKAGE_
	)		DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE2(class_name, _LINKAGE_ class_name)

Definition at line 227 of file CObject.h.

DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE2

#define DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE2	(		class_name,
			class_name_LINKAGE_
	)

Value:

/*! The smart pointer type for the associated class */ \
                        struct class_name_LINKAGE_##Ptr : public mrpt::utils::CObjectPtr \
                        { \
                                inline class_name##Ptr() : mrpt::utils::CObjectPtr(static_cast<mrpt::utils::CObject*>(NULL)) { } \
                                inline explicit class_name##Ptr(class_name* p) : mrpt::utils::CObjectPtr( static_cast<mrpt::utils::CObject*>(p) ) { } \
                                inline explicit class_name##Ptr(const mrpt::utils::CObjectPtr & p) : mrpt::utils::CObjectPtr(p) { ASSERTMSG_( p->GetRuntimeClass()->derivedFrom(#class_name),::mrpt::format("Wrong typecasting of smart pointers: %s -> %s",p->GetRuntimeClass()->className, #class_name) )  } \
                                /*! Return the internal plain C++ pointer */ \
                                inline class_name * pointer() { return dynamic_cast<class_name*>(mrpt::utils::CObjectPtr::pointer()); } \
                                /*! Return the internal plain C++ pointer (const) */ \
                                inline const class_name * pointer() const { return dynamic_cast<const class_name*>(mrpt::utils::CObjectPtr::pointer()); } \
                                inline class_name* operator ->(void) { return dynamic_cast<class_name*>( mrpt::utils::CObjectPtr::operator ->() ); } \
                                inline const class_name* operator ->(void) const { return dynamic_cast<const class_name*>( mrpt::utils::CObjectPtr::operator ->() ); } \
                                inline class_name& operator *(void) { return *dynamic_cast<class_name*>( mrpt::utils::CObjectPtr::operator ->() ); } \
                                inline const class_name& operator *(void) const { return *dynamic_cast<const class_name*>( mrpt::utils::CObjectPtr::operator ->() ); } \
                        };

This declaration must be inserted in all CObject classes definition, after the class declaration.

Definition at line 239 of file CObject.h.

DEFINE_MRPT_OBJECT_POST_NO_LINKAGE

#define DEFINE_MRPT_OBJECT_POST_NO_LINKAGE

(

class_name

)

DEFINE_MRPT_OBJECT_POST_CUSTOM_LINKAGE2(class_name, class_name)

Definition at line 231 of file CObject.h.

DEFINE_MRPT_OBJECT_PRE

#define DEFINE_MRPT_OBJECT_PRE

(

class_name

)

DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE(class_name, BASE_IMPEXP )

This declaration must be inserted in all CObject classes definition, before the class declaration.

Definition at line 263 of file CObject.h.

DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE

#define DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE	(		class_name,
			base_name
	)		DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, BASE_IMPEXP )

This declaration must be inserted in all CObject classes definition, before the class declaration.

Definition at line 258 of file CObject.h.

DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE

#define DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE	(		class_name,
			base_name,
			_LINKAGE_
	)		DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(class_name, base_name, _LINKAGE_ class_name)

Definition at line 191 of file CObject.h.

DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2

#define DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2	(		class_name,
			base_name,
			class_name_LINKAGE_
	)

Value:

class  class_name_LINKAGE_; \
                        struct class_name_LINKAGE_##Ptr;

This declaration must be inserted in all CObject classes definition, before the class declaration.

Definition at line 199 of file CObject.h.

DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_NO_LINKAGE

#define DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_NO_LINKAGE	(		class_name,
			base_name
	)		DEFINE_MRPT_OBJECT_PRE_CUSTOM_BASE_LINKAGE2(class_name, base_name, class_name)

Definition at line 195 of file CObject.h.

DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE

#define DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE	(		class_name,
			_LINKAGE_
	)		DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE2(class_name, _LINKAGE_ class_name)

Definition at line 226 of file CObject.h.

DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE2

#define DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE2	(		class_name,
			class_name_LINKAGE_
	)		struct class_name_LINKAGE_##Ptr;

This declaration must be inserted in all CObject classes definition, before the class declaration.

Definition at line 235 of file CObject.h.

DEFINE_MRPT_OBJECT_PRE_NO_LINKAGE

#define DEFINE_MRPT_OBJECT_PRE_NO_LINKAGE

(

class_name

)

DEFINE_MRPT_OBJECT_PRE_CUSTOM_LINKAGE2(class_name, class_name)

Definition at line 230 of file CObject.h.

DEFINE_VIRTUAL_MRPT_OBJECT

#define DEFINE_VIRTUAL_MRPT_OBJECT

(

class_name

)

Value:

/*! @name RTTI stuff  */ \
                /*! @{  */ \
                protected: \
                        static const mrpt::utils::TRuntimeClassId* _GetBaseClass(); \
                public: \
                        static const mrpt::utils::TRuntimeClassId class##class_name; \
                        virtual const mrpt::utils::TRuntimeClassId* GetRuntimeClass() const MRPT_OVERRIDE; \
                        friend class mrpt::utils::CStream; \
                        typedef class_name##Ptr Ptr; \
                        typedef class_name##Ptr ConstPtr; \
                /*! @}  */ \

This declaration must be inserted in virtual CSerializable classes definition:

Definition at line 287 of file CObject.h.

IMPLEMENTS_MRPT_OBJECT

#define IMPLEMENTS_MRPT_OBJECT	(		class_name,
			base,
			NameSpace
	)

Value:

mrpt::utils::CObject* NameSpace::class_name::CreateObject() \
                                { return static_cast<mrpt::utils::CObject*>( new NameSpace::class_name ); } \
                        NameSpace::class_name##Ptr NameSpace::class_name::Create() \
                                { return NameSpace::class_name##Ptr( new NameSpace::class_name ); } \
                        const mrpt::utils::TRuntimeClassId* NameSpace::class_name::_GetBaseClass() \
                                { return CLASS_ID(base); } \
                        mrpt::utils::TRuntimeClassId NameSpace::class_name::class##class_name = { \
                                #class_name, NameSpace::class_name::CreateObject, &class_name::_GetBaseClass }; \
                        const mrpt::utils::TRuntimeClassId *NameSpace::class_name::classinfo = & NameSpace::class_name::class##class_name; \
                        const mrpt::utils::TRuntimeClassId* NameSpace::class_name::GetRuntimeClass() const \
                        { return CLASS_ID_NAMESPACE(class_name,NameSpace); } \
                        mrpt::utils::CLASSINIT NameSpace::class_name::_init_##class_name(CLASS_ID(base)); \
                        mrpt::utils::CObject * NameSpace::class_name::duplicate() const \
                        { return static_cast<mrpt::utils::CObject*>( new NameSpace::class_name(*this) ); }

This must be inserted in all CObject classes implementation files.

Definition at line 268 of file CObject.h.

IMPLEMENTS_VIRTUAL_MRPT_OBJECT

#define IMPLEMENTS_VIRTUAL_MRPT_OBJECT	(		class_name,
			base_class_name,
			NameSpace
	)

Value:

const mrpt::utils::TRuntimeClassId* class_name::_GetBaseClass() \
                                { return CLASS_ID(base_class_name); } \
                        const mrpt::utils::TRuntimeClassId class_name::class##class_name = { \
                                #class_name, NULL, &class_name::_GetBaseClass }; \
                        const mrpt::utils::TRuntimeClassId* class_name::GetRuntimeClass() const \
                                { return CLASS_ID(class_name); }

This must be inserted as implementation of some required members for virtual CSerializable classes:

Definition at line 303 of file CObject.h.

IS_CLASS

#define IS_CLASS	(		ptrObj,
			class_name
	)		((ptrObj)->GetRuntimeClass()==CLASS_ID(class_name))

Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is of the given class.

Definition at line 93 of file CObject.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::_execGraphSlamStep(), mrpt::obs::CRawlog::addObservationMemoryReference(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_T >::checkOptimizerExists(), mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_T >::checkRegistrationDeciderExists(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::poses::CPosePDFGaussianInf::copyFrom(), mrpt::poses::CPose3DPDFGaussianInf::copyFrom(), mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), mrpt::detectors::CCascadeClassifierDetection::detectObjects_Impl(), mrpt::detectors::CFaceDetection::detectObjects_Impl(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::hmtslam::CHierarchicalMHMap::dumpAsXMLfile(), mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::opengl::CSetOfObjects::initializeAllTextures(), mrpt::opengl::COpenGLViewport::initializeAllTextures(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::obs::CSensoryFrame::internal_buildAuxPointsMap(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CReflectivityGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::opengl::COpenGLScene::internal_visitAllObjects(), mrpt::obs::CRawlog::loadFromRawLogFile(), mrpt::slam::observationsOverlap(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::slam::CMetricMapBuilderICP::processObservation(), mrpt::poses::CPoseRandomSampler::setPosePDF(), mrpt::hmtslam::CHMTSLAM::TBI_main_method(), TEST(), mrpt::hwdrivers::CCameraSensor::thread_save_images(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::updateState(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState().

IS_DERIVED

#define IS_DERIVED	(		ptrObj,
			class_name
	)		((ptrObj)->GetRuntimeClass()->derivedFrom(CLASS_ID(class_name)))

Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is an instance of the given class or any of its derived classes.

Definition at line 96 of file CObject.h.

Referenced by mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::opengl::CSetOfObjects::initializeAllTextures(), mrpt::opengl::COpenGLViewport::initializeAllTextures(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and mrpt::hwdrivers::CCameraSensor::thread_save_images().