CRangeScanEdgeRegistrationDecider.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 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::CObservation2DRangeScan::Ptr>
                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 */