CEmptyERD.h

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        /* +---------------------------------------------------------------------------+
         |                     Mobile Robot Programming Toolkit (MRPT)               |
         |                          http://www.mrpt.org/                             |
         |                                                                           |
         | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
         | See: http://www.mrpt.org/Authors - All rights reserved.                   |
         | Released under BSD License. See details in http://www.mrpt.org/License    |
         +---------------------------------------------------------------------------+ */

#ifndef CEmptyERD_H
#define CEmptyERD_H

#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CRawlog.h>

#include <mrpt/graphslam/interfaces/CEdgeRegistrationDecider.h>

namespace mrpt { namespace graphslam { namespace deciders {

/**\brief Empty Edge Registration Decider
 *
 * Handy when you are testing other parts of the application but not the
 * specific registration procedure
 */
template<class GRAPH_T=typename mrpt::graphs::CNetworkOfPoses2DInf >
class CEmptyERD:
        public mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T>
{
        public:
                typedef typename GRAPH_T::constraint_t constraint_t;

                CEmptyERD();
                ~CEmptyERD();

                bool updateState(
                                mrpt::obs::CActionCollectionPtr action,
                                mrpt::obs::CSensoryFramePtr observations,
                                mrpt::obs::CObservationPtr observation );

        private:
                void registerNewEdge(
                                const mrpt::utils::TNodeID& from,
                                const mrpt::utils::TNodeID& to,
                                const constraint_t& rel_edge );
};

//////////////////////////////////////////////////////////////////////////////

template<class GRAPH_T>
CEmptyERD<GRAPH_T>::CEmptyERD() { }
template<class GRAPH_T>
CEmptyERD<GRAPH_T>::~CEmptyERD() { }

template<class GRAPH_T>
bool CEmptyERD<GRAPH_T>::updateState(
                mrpt::obs::CActionCollectionPtr action,
                mrpt::obs::CSensoryFramePtr observations,
                mrpt::obs::CObservationPtr observation ) {return true;}

template<class GRAPH_T>
void CEmptyERD<GRAPH_T>::registerNewEdge(
                const mrpt::utils::TNodeID& from,
                const mrpt::utils::TNodeID& to,
                const constraint_t& rel_edge ) { }

} } } // end of namespaces

#endif /* end of include guard: CEmptyERD_H */