CEmptyGSO.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/obs/CObservation.h>
#include <mrpt/obs/CSensoryFrame.h>

#include <mrpt/graphslam/interfaces/CGraphSlamOptimizer.h>

namespace mrpt::graphslam::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:
    using constraint_t = typename GRAPH_T::constraint_t;

    CEmptyGSO() = default;
    ~CEmptyGSO() = default;

    bool updateState(
        mrpt::obs::CActionCollection::Ptr action,
        mrpt::obs::CSensoryFrame::Ptr observations,
        mrpt::obs::CObservation::Ptr observation)
    {
        return true;
    }

   private:
    void registerNewEdge(
        const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
        const constraint_t& rel_edge)
    {
    }
};
}  // namespace mrpt::graphslam::optimizers