TNodeAnnotations.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 TNODEANNOTATIONS_H
#define TNODEANNOTATIONS_H
 
#include <mrpt/serialization/stl_serialization.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/graphs/TNodeID.h>
#include <cstdint>
#include <mrpt/core/exceptions.h>
#include <iostream>
#include <string>
 
namespace mrpt
{
namespace graphs
{
namespace detail
{
/**\brief  Abstract class from which NodeAnnotations related classes can be
 * implemented
 *
 * \ingroup mrpt_graphs_grp
 */
struct TNodeAnnotations
{
        using self_t = TNodeAnnotations;
 
        /**\brief Constructor */
        TNodeAnnotations() : is_node_annots_empty(false) {}
        /**\brief Destructor */
        virtual ~TNodeAnnotations() {}
        /**\brief Generic copy constructor */
        TNodeAnnotations(const TNodeAnnotations& other) {}
        virtual void getAnnotsAsString(std::string* s) const { ASSERT_(s); }
        std::string retAnnotsAsString() const
        {
                std::string s;
                this->getAnnotsAsString(&s);
                return s;
        }
 
        virtual bool operator==(const TNodeAnnotations& other) const
        {
                return true;
        }
        virtual bool operator!=(const TNodeAnnotations& other) const
        {
                return (!(*this == other));
        }
 
        /**\brief Create and return a copy of the TNodeAnnotations object at hand.
         *
         * \warning Caller is responsible of afterwards deleting the object which is
         * allocaed in heap
         */
        TNodeAnnotations* getCopyOfAnnots() const { return new TNodeAnnotations(); }
        /**\brief Set the properties of the current TNodeAnnotations object
         *
         * \return True if setting the annotations part is successful.
         */
        bool setAnnots(const self_t& other) { return true; }
        /**\brief Indicates if this is a dummy TNodeAnnotations struct or if it does
         * contain meaningful data
         */
        bool is_node_annots_empty;
};
 
/////////////////////////////////////////////////////////////////////////////
 
/**\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 TNodeAnnotationsEmpty : public TNodeAnnotations
{
        TNodeAnnotationsEmpty() { this->is_node_annots_empty = true; }
        DECLARE_TTYPENAME_CLASSNAME(mrpt::graphs::detail::TNodeAnnotationsEmpty)
};
}
}
}  // end of namespaces
#endif /* end of include guard: TNODEANNOTATIONS_H */