CEmptyGSO.h

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        /* +---------------------------------------------------------------------------+
         |                     Mobile Robot Programming Toolkit (MRPT)               |
         |                          http://www.mrpt.org/                             |
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         | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file        |
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         | 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 */