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CEmptyNRD.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 CEMPTYNRD_H
11 #define CEMPTYNRD_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 Node Registration Decider
22  *
23  * Handy when you are testing other parts of the application but not the
24  * specific registration procedure
25  *
26  * \ingroup mrpt_graphslam_grp
27  */
28 template<class GRAPH_T=typename mrpt::graphs::CNetworkOfPoses2DInf>
29 class CEmptyNRD:
31 {
32  /**\brief Handy typedefs */
33  /**\{*/
34  typedef typename GRAPH_T::constraint_t::type_value pose_t;
35  typedef typename GRAPH_T::global_pose_t global_pose_t;
36  /**\}*/
37  public:
38  CEmptyNRD();
39  ~CEmptyNRD();
40 
41  bool updateState( mrpt::obs::CActionCollectionPtr action,
42  mrpt::obs::CSensoryFramePtr observations,
43  mrpt::obs::CObservationPtr observation );
45 
46  private:
47  void registerNewNode();
48 
49 };
50 
51 //////////////////////////////////////////////////////////////////////////////
52 
53 template<class GRAPH_T>
55 template<class GRAPH_T>
57 
58 template<class GRAPH_T>
60  mrpt::obs::CActionCollectionPtr action,
61  mrpt::obs::CSensoryFramePtr observations,
62  mrpt::obs::CObservationPtr observation ) {return false;}
63 
64 template<class GRAPH_T>
66 
67 template<class GRAPH_T>
68 typename GRAPH_T::global_pose_t
69 CEmptyNRD<GRAPH_T>::getCurrentRobotPosEstimation() const {return typename GRAPH_T::global_pose_t();}
70 
71 } } } // end of namespaces
72 
73 #endif /* end of include guard: CEMPTYNRD_H */
Interface for implementing node registration classes.
Empty Node Registration Decider.
Definition: CEmptyNRD.h:29
global_pose_t getCurrentRobotPosEstimation() const
Getter method for fetching the currently estimated robot position.
Definition: CEmptyNRD.h:69
GRAPH_T::global_pose_t global_pose_t
Definition: CEmptyNRD.h:35
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool updateState(mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)
Generic method for fetching the incremental action-observations (or observation-only) depending on th...
Definition: CEmptyNRD.h:59
GRAPH_T::constraint_t::type_value pose_t
Handy typedefs.
Definition: CEmptyNRD.h:34



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