CEmptyERD.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, 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 CEmptyERD_H
#define CEmptyERD_H

#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CRawlog.h>

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

namespace mrpt
{
namespace graphslam
{
namespace deciders
{
/**\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 CEmptyERD
        : public mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T>
{
   public:
        typedef typename GRAPH_T::constraint_t constraint_t;

        CEmptyERD();
        ~CEmptyERD();

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

   private:
        void registerNewEdge(
                const mrpt::utils::TNodeID& from, const mrpt::utils::TNodeID& to,
                const constraint_t& rel_edge);
};

//////////////////////////////////////////////////////////////////////////////

template <class GRAPH_T>
CEmptyERD<GRAPH_T>::CEmptyERD()
{
}
template <class GRAPH_T>
CEmptyERD<GRAPH_T>::~CEmptyERD()
{
}

template <class GRAPH_T>
bool CEmptyERD<GRAPH_T>::updateState(
        mrpt::obs::CActionCollection::Ptr action,
        mrpt::obs::CSensoryFrame::Ptr observations,
        mrpt::obs::CObservation::Ptr observation)
{
        return true;
}

template <class GRAPH_T>
void CEmptyERD<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: CEmptyERD_H */