Program Listing for File point_3d_fixed_landmark.hpp

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#ifndef FUSE_VARIABLES__POINT_3D_FIXED_LANDMARK_HPP_
#define FUSE_VARIABLES__POINT_3D_FIXED_LANDMARK_HPP_

#include <ostream>

#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/serialization.hpp>
#include <fuse_variables/fixed_size_variable.hpp>

#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>


namespace fuse_variables
{
class Point3DFixedLandmark : public FixedSizeVariable<3>
{
public:
  FUSE_VARIABLE_DEFINITIONS(Point3DFixedLandmark)


  enum : size_t
  {
    X = 0,
    Y = 1,
    Z = 2
  };

  Point3DFixedLandmark() = default;

  explicit Point3DFixedLandmark(const uint64_t & landmark_id);

  double & x() {return data_[X];}

  const double & x() const {return data_[X];}

  double & y() {return data_[Y];}

  const double & y() const {return data_[Y];}

  double & z() {return data_[Z];}

  const double & z() const {return data_[Z];}

  const uint64_t & id() const {return id_;}

  void print(std::ostream & stream = std::cout) const override;

  bool holdConstant() const override;

private:
  // Allow Boost Serialization access to private methods
  friend class boost::serialization::access;
  uint64_t id_ {0};

  template<class Archive>
  void serialize(Archive & archive, const unsigned int /* version */)
  {
    archive & boost::serialization::base_object<FixedSizeVariable<SIZE>>(*this);
    archive & id_;
  }
};

}  // namespace fuse_variables

BOOST_CLASS_EXPORT_KEY(fuse_variables::Point3DFixedLandmark);

#endif  // FUSE_VARIABLES__POINT_3D_FIXED_LANDMARK_HPP_