data_semantics.hpp

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/*
 * SPDX-FileCopyrightText: 2021-2022 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021-2022 Nils Funk
 * SPDX-FileCopyrightText: 2021-2022 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_DATA_SEMANTICS_HPP
#define SE_DATA_SEMANTICS_HPP
 
#include <se/map/utils/setup_util.hpp>
#include <se/map/utils/type_util.hpp>
 
namespace se {
 
// Semantic data
template<Semantics SemB>
struct SemanticData {
    struct Config {
        void readYaml(const std::string& /* yaml_file */)
        {
        }
    };
};
 
// Semantic data
template<>
struct SemanticData<Semantics::On> {
    semantics_t sem = semantics_t(0);
 
    struct Config {
        void readYaml(const std::string& yaml_file);
    };
};
 
std::ostream& operator<<(std::ostream& os, const SemanticData<Semantics::Off>::Config& c);
std::ostream& operator<<(std::ostream& os, const SemanticData<Semantics::On>::Config& c);
 
} // namespace se
 
#endif // SE_DATA_SEMANTICS_HPP