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 CObservationComment_H 00029 #define CObservationComment_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/slam/CObservation.h> 00033 00034 namespace mrpt 00035 { 00036 namespace slam 00037 { 00038 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationComment , CObservation, OBS_IMPEXP) 00039 00040 00041 /** This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. 00042 * There should be only one of this observations in a rawlog file, and it's recommended to insert/modify them from the application RawlogViewer. 00043 * 00044 * \sa CObservation 00045 * \ingroup mrpt_obs_grp 00046 */ 00047 class OBS_IMPEXP CObservationComment : public CObservation 00048 { 00049 // This must be added to any CSerializable derived class: 00050 DEFINE_SERIALIZABLE( CObservationComment ) 00051 00052 public: 00053 /** Constructor. 00054 */ 00055 CObservationComment( ) : 00056 text() 00057 { } 00058 00059 /** Destructor 00060 */ 00061 virtual ~CObservationComment() 00062 { } 00063 00064 /** The text block. */ 00065 std::string text; 00066 00067 /** A general method to retrieve the sensor pose on the robot. 00068 * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases. 00069 * \sa setSensorPose 00070 */ 00071 void getSensorPose( CPose3D & ) const { } 00072 00073 00074 /** A general method to change the sensor pose on the robot. 00075 * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases. 00076 * \sa getSensorPose 00077 */ 00078 void setSensorPose( const CPose3D & ) { } 00079 00080 }; // End of class def. 00081 00082 } // End of namespace 00083 } // End of namespace 00084 00085 #endif
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