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 CMetricMapEvents_H 00029 #define CMetricMapEvents_H 00030 00031 #include <mrpt/utils/mrptEvent.h> 00032 00033 namespace mrpt 00034 { 00035 namespace poses { class CPose3D; } 00036 namespace slam 00037 { 00038 class CObservation; 00039 class CMetricMap; 00040 00041 /** Event emitted by a metric up upon call of clear() 00042 * \sa CMetricMap 00043 * \ingroup mrpt_obs_grp 00044 */ 00045 class mrptEventMetricMapClear : public mrpt::utils::mrptEvent 00046 { 00047 protected: 00048 virtual void do_nothing() { } //!< Just to allow this class to be polymorphic 00049 public: 00050 inline mrptEventMetricMapClear(const CMetricMap *smap) : source_map(smap) {} 00051 00052 const CMetricMap *source_map; 00053 }; 00054 00055 /** Event emitted by a metric up upon a succesful call to insertObservation() 00056 * \sa CMetricMap 00057 * \ingroup mrpt_obs_grp 00058 */ 00059 class mrptEventMetricMapInsert : public mrpt::utils::mrptEvent 00060 { 00061 protected: 00062 virtual void do_nothing() { } //!< Just to allow this class to be polymorphic 00063 public: 00064 inline mrptEventMetricMapInsert(const CMetricMap *smap, const CObservation *obs,const CPose3D *robotPose ) : source_map(smap), inserted_obs(obs), inserted_robotPose(robotPose) { } 00065 00066 const CMetricMap *source_map; 00067 const CObservation *inserted_obs; 00068 const CPose3D *inserted_robotPose; 00069 00070 }; 00071 00072 } // End of namespace 00073 } // End of namespace 00074 00075 #endif
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