CEmptyGSO.h

Go to the documentation of this file.

        /* +---------------------------------------------------------------------------+
         |                     Mobile Robot Programming Toolkit (MRPT)               |
         |                          http://www.mrpt.org/                             |
         |                                                                           |
         | Copyright (c) 2005-2016, 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 CEmptyGSO_H
#define CEmptyGSO_H
 
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CRawlog.h>
 
#include <mrpt/graphslam/interfaces/CGraphSlamOptimizer.h>
 
namespace mrpt { namespace graphslam { namespace optimizers {
 
/**\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 CEmptyGSO:
        public mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T>
{
        public:
                typedef typename GRAPH_T::constraint_t constraint_t;
 
                CEmptyGSO();
                ~CEmptyGSO();
 
                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>
CEmptyGSO<GRAPH_T>::CEmptyGSO() { }
template<class GRAPH_T>
CEmptyGSO<GRAPH_T>::~CEmptyGSO() { }
 
template<class GRAPH_T>
bool CEmptyGSO<GRAPH_T>::updateState(
                mrpt::obs::CActionCollectionPtr action,
                mrpt::obs::CSensoryFramePtr observations,
                mrpt::obs::CObservationPtr observation ) {return true;}
 
template<class GRAPH_T>
void CEmptyGSO<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: CEmptyGSO_H */