TMRSlamNodeAnnotations.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 TMRSLAMNODEANNOTATIONS_H
#define TMRSLAMNODEANNOTATIONS_H

#include <mrpt/graphs/TNodeAnnotations.h>
#include <mrpt/utils/types_simple.h>
#include <sstream>
#include <string>

namespace mrpt
{
namespace graphs
{
namespace detail
{
/**\brief Struct to be used as the NODE_ANNOTATIONS template argument in
 * CNetworkOfPoses class instances for use in multiple-robot SLAM applications
 *
 * \ingroup mrpt_graphs_grp
 */
struct TMRSlamNodeAnnotations : public TNodeAnnotations
{
        typedef TNodeAnnotations parent_t;
        typedef TMRSlamNodeAnnotations self_t;

        TMRSlamNodeAnnotations() : agent_ID_str(""), nodeID_loc(INVALID_NODEID) {}
        TMRSlamNodeAnnotations(const TMRSlamNodeAnnotations& other)
                : parent_t(other)
        {
                this->setAnnots(other);
        }

        TNodeAnnotations* getCopyOfAnnots() const
        {
                self_t* annots = new self_t(*this);
                return annots;
        }
        bool setAnnots(const parent_t& other)
        {
                parent_t::setAnnots(other);

                bool res;
                const self_t* mr_slam_annots = dynamic_cast<const self_t*>(&other);
                if (mr_slam_annots)
                {
                        this->agent_ID_str = mr_slam_annots->agent_ID_str;
                        this->nodeID_loc = mr_slam_annots->nodeID_loc;
                        res = true;
                }
                else
                {
                        res = false;
                }

                return res;
        }

        bool operator==(const TNodeAnnotations& other) const
        {
                const TMRSlamNodeAnnotations* mr_slam_annots =
                        dynamic_cast<const TMRSlamNodeAnnotations*>(&other);

                bool res = false;
                if (mr_slam_annots)
                {
                        res =
                                (this->agent_ID_str == mr_slam_annots->agent_ID_str &&
                                 this->nodeID_loc == mr_slam_annots->nodeID_loc);
                }

                return res;
        }

        void getAnnotsAsString(std::string* s) const
        {
                parent_t::getAnnotsAsString(s);

                std::stringstream ss;
                ss << "agent_ID_str: " << agent_ID_str << "| "
                   << "nodeID_loc: " << nodeID_loc;

                s->clear();
                *s = ss.str();
        }

        /**\brief string identifier of the SLAM Agent that initially registered this
         * node. */
        std::string agent_ID_str;
        /**\brief ID of node in the graph of the SLAM Agent that initially
         * registered
         * this node.
         *
         * \note 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.
         */
        mrpt::utils::TNodeID nodeID_loc;
};
}
}
}  // end of namespaces

// declare as ttypename - in mrpt::utils namespace
namespace mrpt
{
namespace utils
{
MRPT_DECLARE_TTYPENAME(mrpt::graphs::detail::TMRSlamNodeAnnotations)
}
}  // end of namespaces

#endif /* end of include guard: TMRSLAMNODEANNOTATIONS_H */