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CMetricMapEvents.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef CMetricMapEvents_H
10 #define CMetricMapEvents_H
11 
12 #include <mrpt/system/mrptEvent.h>
13 #include <mrpt/poses/poses_frwds.h>
14 
15 namespace mrpt
16 {
17 namespace obs
18 {
19 class CObservation;
20 }
21 namespace maps
22 {
23 class CMetricMap;
24 
25 /** Event emitted by a metric up upon call of clear()
26  * \sa CMetricMap
27  * \ingroup mrpt_obs_grp
28  */
30 {
31  protected:
32  /** Just to allow this class to be polymorphic */
33  virtual void do_nothing() override {}
34  public:
36  : source_map(smap)
37  {
38  }
39 
41 };
42 
43 /** Event emitted by a metric up upon a succesful call to insertObservation()
44  * \sa CMetricMap
45  * \ingroup mrpt_obs_grp
46  */
48 {
49  protected:
50  /** Just to allow this class to be polymorphic */
51  virtual void do_nothing() override {}
52  public:
54  const mrpt::maps::CMetricMap* smap, const mrpt::obs::CObservation* obs,
55  const mrpt::poses::CPose3D* robotPose)
56  : source_map(smap), inserted_obs(obs), inserted_robotPose(robotPose)
57  {
58  }
59 
63 };
64 
65 } // End of namespace
66 } // End of namespace
67 
68 #endif
virtual void do_nothing() override
Just to allow this class to be polymorphic.
The basic event type for the observer-observable pattern in MRPT.
Definition: mrptEvent.h:33
const mrpt::maps::CMetricMap * source_map
mrptEventMetricMapInsert(const mrpt::maps::CMetricMap *smap, const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose)
mrptEventMetricMapClear(const mrpt::maps::CMetricMap *smap)
virtual void do_nothing() override
Just to allow this class to be polymorphic.
Event emitted by a metric up upon a succesful call to insertObservation()
const mrpt::obs::CObservation * inserted_obs
Event emitted by a metric up upon call of clear()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Declares a virtual base class for all metric maps storage classes.
Definition: CMetricMap.h:56
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:88
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
const mrpt::maps::CMetricMap * source_map
const mrpt::poses::CPose3D * inserted_robotPose



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