maps/CMetricMapEvents.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 CMetricMapEvents_H
#define CMetricMapEvents_H

#include <mrpt/utils/mrptEvent.h>
#include <mrpt/poses/poses_frwds.h>

namespace mrpt
{
namespace obs { class CObservation; }
        namespace maps
        {
                class CMetricMap;

                /** Event emitted by a metric up upon call of clear()
                  * \sa CMetricMap
                  * \ingroup mrpt_obs_grp
                  */
                class mrptEventMetricMapClear : public mrpt::utils::mrptEvent
                {
                protected:
                        virtual void do_nothing() MRPT_OVERRIDE { } //!< Just to allow this class to be polymorphic
                public:
                        inline mrptEventMetricMapClear(const mrpt::maps::CMetricMap   *smap) : source_map(smap) {}

                        const mrpt::maps::CMetricMap  *source_map;
                };

                /** Event emitted by a metric up upon a succesful call to insertObservation()
                  * \sa CMetricMap
                  * \ingroup mrpt_obs_grp
                  */
                class mrptEventMetricMapInsert : public mrpt::utils::mrptEvent
                {
                protected:
                        virtual void do_nothing() MRPT_OVERRIDE { } //!< Just to allow this class to be polymorphic
                public:
                        inline mrptEventMetricMapInsert(const mrpt::maps::CMetricMap   *smap, const mrpt::obs::CObservation *obs,const mrpt::poses::CPose3D *robotPose ) : source_map(smap), inserted_obs(obs), inserted_robotPose(robotPose) { }

                        const mrpt::maps::CMetricMap   *source_map;
                        const mrpt::obs::CObservation *inserted_obs;
                        const mrpt::poses::CPose3D *inserted_robotPose;
                };

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

#endif