CObservationComment.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationComment_H
#define CObservationComment_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/slam/CObservation.h>

namespace mrpt
{
namespace slam
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationComment , CObservation, OBS_IMPEXP)


        /** This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file.
         *   There should be only one of this observations in a rawlog file, and it's recommended to insert/modify them from the application RawlogViewer.
         *
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationComment : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationComment )

         public:
                /** Constructor.
                 */
                CObservationComment(  ) :
                        text()
                { }

                /** Destructor
                  */
                virtual ~CObservationComment()
                { }

                /** The text block. */
                std::string text;

                /** A general method to retrieve the sensor pose on the robot.
                  *  Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa setSensorPose
                  */
                void getSensorPose( CPose3D & ) const {  }


                /** A general method to change the sensor pose on the robot.
                  *  Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa getSensorPose
                  */
                void setSensorPose( const CPose3D & ) {  }

        }; // End of class def.

        } // End of namespace
} // End of namespace

#endif