CHolonomicLogFileRecord.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 CHolonomicLogFileRecord_H
#define CHolonomicLogFileRecord_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/math/CMatrixD.h>

namespace mrpt
{
namespace nav
{
/** \addtogroup nav_holo Holonomic navigation methods
  * \ingroup mrpt_nav_grp
  * @{ */

/** A base class for log records for different holonomic navigation methods.
 *
 * \sa CReactiveNavigationSystem, CHolonomicLogFileRecord
 */
class CHolonomicLogFileRecord : public utils::CSerializable
{
        DEFINE_VIRTUAL_SERIALIZABLE(CHolonomicLogFileRecord)
   public:
        /** Final [0] and alternative [1..N] evaluation scores for each direction,
         * in the same order of TP-Obstacles. May be not filled by all methods. */
        std::vector<std::vector<double>> dirs_eval;

        virtual const mrpt::math::CMatrixD* getDirectionScores() const
        {
                return nullptr;
        }
};

/** @} */
}
}

#endif