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CEmptyERD.h
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1  /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #ifndef CEmptyERD_H
11 #define CEmptyERD_H
12 
14 #include <mrpt/obs/CSensoryFrame.h>
15 #include <mrpt/obs/CRawlog.h>
16 
18 
19 namespace mrpt { namespace graphslam { namespace deciders {
20 
21 /**\brief Empty Edge Registration Decider
22  *
23  * Handy when you are testing other parts of the application but not the
24  * specific registration procedure
25  */
26 template<class GRAPH_T=typename mrpt::graphs::CNetworkOfPoses2DInf >
27 class CEmptyERD:
29 {
30  public:
31  typedef typename GRAPH_T::constraint_t constraint_t;
32 
33  CEmptyERD();
34  ~CEmptyERD();
35 
36  bool updateState(
37  mrpt::obs::CActionCollectionPtr action,
38  mrpt::obs::CSensoryFramePtr observations,
39  mrpt::obs::CObservationPtr observation );
40 
41  private:
42  void registerNewEdge(
43  const mrpt::utils::TNodeID& from,
44  const mrpt::utils::TNodeID& to,
45  const constraint_t& rel_edge );
46 };
47 
48 //////////////////////////////////////////////////////////////////////////////
49 
50 template<class GRAPH_T>
52 template<class GRAPH_T>
54 
55 template<class GRAPH_T>
57  mrpt::obs::CActionCollectionPtr action,
58  mrpt::obs::CSensoryFramePtr observations,
59  mrpt::obs::CObservationPtr observation ) {return true;}
60 
61 template<class GRAPH_T>
63  const mrpt::utils::TNodeID& from,
64  const mrpt::utils::TNodeID& to,
65  const constraint_t& rel_edge ) { }
66 
67 } } } // end of namespaces
68 
69 #endif /* end of include guard: CEmptyERD_H */
void registerNewEdge(const mrpt::utils::TNodeID &from, const mrpt::utils::TNodeID &to, const constraint_t &rel_edge)
Register a new constraint/edge in the current graph.
Definition: CEmptyERD.h:62
Interface for implementing edge registration classes.
uint64_t TNodeID
The type for node IDs in graphs of different types.
GRAPH_T::constraint_t constraint_t
Definition: CEmptyERD.h:31
bool updateState(mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)
Generic method for fetching the incremental action/observation readings from the calling function...
Definition: CEmptyERD.h:56
Empty Edge Registration Decider.
Definition: CEmptyERD.h:27



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