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46 lines
982 B
C++
46 lines
982 B
C++
#ifndef __VIEWPOINT_H_
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#define __VIEWPOINT_H_
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#include <vector>
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using std::vector;
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#include <utility>
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using std::pair;
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#include "grid/scanGrid.h"
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#include <string>
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using std::string;
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/**
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* The class manages a list of viewpoints from which the
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* roboter has taken the scans.
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* It provides methods for adding a new viewpoint, saving and loading the
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* list.
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*
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* @author Sebastian Stock, Uwe Hebbelmann, Andre Schemschat
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* @date 22.02.08
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*/
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class viewpointinfo
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{
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private:
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/** Typedef for a viewpoint */
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typedef pair<long, long> viewpoint;
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/** Internal vector for storing the viewpoints */
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vector<viewpoint> viewpoints;
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/** The path where the file is created */
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string path;
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public:
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/** @brief CTor */
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viewpointinfo(string path);
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/** @brief Adds the viewpoint information of a scanGrid */
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void addGrid(const scanGrid *grid);
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/** @brief Writes the internal list to file */
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void write(string filename);
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};
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#endif
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