struct mrpt::graphs::detail::TMRSlamNodeAnnotations

Struct to be used as the NODE_ANNOTATIONS template argument in CNetworkOfPoses class instances for use in multiple-robot SLAM applications.

#include <mrpt/graphs/TMRSlamNodeAnnotations.h>

struct TMRSlamNodeAnnotations: public mrpt::graphs::detail::TNodeAnnotations
{
    // typedefs

    typedef TNodeAnnotations parent_t;
    typedef TMRSlamNodeAnnotations self_t;

    //
fields

    std::string agent_ID_str;
    mrpt::graphs::TNodeID nodeID_loc;
    bool is_node_annots_empty {false};

    // construction

    TMRSlamNodeAnnotations();
    TMRSlamNodeAnnotations(const TMRSlamNodeAnnotations& other);

    //
methods

    TNodeAnnotations* getCopyOfAnnots() const;
    bool setAnnots(const parent_t& other);
    virtual bool operator == (const TNodeAnnotations& other) const;
    virtual void getAnnotsAsString(std::string* s) const;
};

Inherited Members

public:
    //
methods

    TNodeAnnotations* getCopyOfAnnots() const;
    bool setAnnots(const self_t& other);

Fields

std::string agent_ID_str

string identifier of the SLAM Agent that initially registered this node.

mrpt::graphs::TNodeID nodeID_loc

ID of node in the graph of the SLAM Agent that initially registered this node.

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.

bool is_node_annots_empty {false}

Indicates if this is a dummy TNodeAnnotations struct or if it does contain meaningful data.