1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
|
/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/stock_observations.h>
#include <mrpt/system/CObserver.h>
#include <iostream>
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::poses;
using namespace mrpt::system;
using namespace std;
// Load a example laser scan:
CObservation2DRangeScan getScan()
{
CObservation2DRangeScan scan1;
stock_observations::example2DRangeScan(scan1);
return scan1;
}
class MyObserver : public mrpt::system::CObserver
{
protected:
void OnEvent(const mrptEvent& e) override
{
if (e.isOfType<mrptEventMetricMapClear>())
cout << "[MyObserver] Event received: mrptEventMetricMapClear\n";
else if (e.isOfType<mrptEventMetricMapInsert>())
cout << "[MyObserver] Event received: mrptEventMetricMapInsert\n";
else if (e.isOfType<mrptEventOnDestroy>())
cout << "[MyObserver] Event received: mrptEventOnDestroy\n";
else
cout << "[MyObserver] Event received: Generic mrptEvent \n";
}
};
// ------------------------------------------------------
// TestObserverPattern
// ------------------------------------------------------
void TestObserverPattern()
{
CSimplePointsMap::Ptr map1 = CSimplePointsMap::Create();
CObservation2DRangeScan obs = getScan();
// Start observer:
MyObserver observer;
observer.observeBegin(*map1);
// Insert:
for (int i = 0; i < 3; i++)
map1->insertObservation(obs);
// Clear:
map1->clear();
// Insert again:
map1->insertObservation(obs);
// Destroy
map1.reset();
}
int main()
{
try
{
TestObserverPattern();
return 0;
}
catch (exception& e)
{
cout << "MRPT exception caught: " << e.what() << endl;
return -1;
}
catch (...)
{
printf("Another exception!!");
return -1;
}
}
|
