00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CAction_H 00029 #define CAction_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/system/datetime.h> 00033 00034 #include <mrpt/obs/link_pragmas.h> 00035 00036 00037 namespace mrpt 00038 { 00039 /** \ingroup mrpt_obs_grp */ 00040 namespace slam 00041 { 00042 // This must be added to any CSerializable derived class: 00043 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CAction, mrpt::utils::CSerializable, OBS_IMPEXP ) 00044 00045 /** Declares a class for storing a robot action. It is used in mrpt::slam::CRawlog, 00046 * for logs storage and particle filter based simulations. 00047 * See derived classes for implementations. 00048 * 00049 * \sa CActionCollection, CRawlog 00050 * \ingroup mrpt_obs_grp 00051 */ 00052 class OBS_IMPEXP CAction : public mrpt::utils::CSerializable 00053 { 00054 // This must be added to any CSerializable derived class: 00055 DEFINE_VIRTUAL_SERIALIZABLE( CAction ) 00056 00057 /** Default constructor 00058 */ 00059 CAction(); 00060 00061 /** Constructor 00062 */ 00063 virtual ~CAction(); 00064 00065 /** The associated time-stamp. 00066 * This was added at 2-Dec-2007, new serialization versions have been added to derived classes to manage this time-stamp. 00067 * Prior versions will be read as having a INVALID_TIMESTAMP value. 00068 */ 00069 mrpt::system::TTimeStamp timestamp; 00070 00071 }; // End of class def. 00072 00073 00074 } // End of namespace 00075 } // End of namespace 00076 00077 #endif
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