CRangeScanEdgeRegistrationDecider.h

Go to the documentation of this file.

#ifndef CRANGESCANEDGEREGISTRATIONDECIDER_H
#define CRANGESCANEDGEREGISTRATIONDECIDER_H

#include <mrpt/graphslam/interfaces/CEdgeRegistrationDecider.h>
#include <mrpt/graphslam/misc/CRangeScanOps.h>
#include <mrpt/obs/CObservation2DRangeScan.h>

namespace mrpt { namespace graphslam { namespace deciders {

/**\brief Edge Registration Decider Interface from which RangeScanner-based
 * ERDs can inherit from.
 *
 * Holds common vars for the underlying classesand provides methods for
 * accessing and modifying them.
 *
 * \note Since the decider inherits from the CRangeScanOps
 * class, it parses the configuration parameters of the latter as well from the
 * "ICP" section. Refer to the CRangeScanOps documentation for
 * its list of configuration parameters
 */
template<class GRAPH_T>
class CRangeScanEdgeRegistrationDecider :
        public virtual CEdgeRegistrationDecider<GRAPH_T>,
        public CRangeScanOps<GRAPH_T>
{
        public:
                typedef mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T>
                        parent_t;
                /**\brief Typedef for accessing methods of the
                 * RangeScanRegistrationDecider_t parent class.
                 */
                typedef mrpt::graphslam::deciders::CRangeScanOps<GRAPH_T>
                        range_ops_t;
                typedef std::map<
                        mrpt::utils::TNodeID,
                        mrpt::obs::CObservation2DRangeScanPtr> nodes_to_scans2D_t;

                CRangeScanEdgeRegistrationDecider();
                ~CRangeScanEdgeRegistrationDecider();

        protected:
                /**\name Relevant-observations manipulation 
                 * Methods for manipulating the underlying storage of the
                 * observation that the specific decider implementations.
                 * \note Defining a generic way of dealing with the underlying
                 * measurements, allows for flexible storage as well as possible
                 * modification to the method behavior.
                 */
                /**\{ */
                /**\brief Fetch the latest observation that the current instance
                 * received (most probably during a call to the updateState method.
                 */
                // TODO - Implement these
                /**\} */

                virtual void loadParams(const std::string& source_fname);
                virtual void printParams() const;
                /**\brief Map for keeping track of the observation recorded at each graph
                 * position
                 */
                nodes_to_scans2D_t  m_nodes_to_laser_scans2D;
                /**\brief Keep track of the total number of registered nodes since the last
                 * time class method was called
                 */
                size_t m_last_total_num_nodes;

        private:

};

} } } // end of namespaces

#include "CRangeScanEdgeRegistrationDecider_impl.h"

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