CObservationRobotPose.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 CObservationRobotPose_H
#define CObservationRobotPose_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>

namespace mrpt
{
namespace obs
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationRobotPose, CObservation, OBS_IMPEXP  )

        /** An observation providing an alternative robot pose from an external source.
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationRobotPose : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationRobotPose )
         public:
                CObservationRobotPose( );  //!< Default ctor

                mrpt::poses::CPose3DPDFGaussian pose; //!< The observed robot pose

                mrpt::poses::CPose3D sensorPose; //!< The pose of the sensor on the robot/vehicle

                void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;// See base class docs.
                void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;// See base class docs.
                void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;// See base class docs

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationRobotPose, CObservation, OBS_IMPEXP  )

        } // End of namespace
} // End of namespace

#endif