MRPT
1.9.9
CEmptyGSO.h
Go to the documentation of this file.
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/* +------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| http://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
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| See: http://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See details in http://www.mrpt.org/License |
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+------------------------------------------------------------------------+ */
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#ifndef CEmptyGSO_H
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#define CEmptyGSO_H
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#include <
mrpt/obs/CObservation.h
>
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#include <
mrpt/obs/CSensoryFrame.h
>
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#include <
mrpt/graphslam/interfaces/CGraphSlamOptimizer.h
>
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namespace
mrpt::graphslam::optimizers
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{
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/**\brief Empty Edge Registration Decider
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*
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* Handy when you are testing other parts of the application but not the
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* specific registration procedure
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*/
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template
<
class
GRAPH_T =
typename
mrpt::graphs::CNetworkOfPoses2DInf>
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class
CEmptyGSO
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:
public
mrpt::graphslam::optimizers::CGraphSlamOptimizer
<GRAPH_T>
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{
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public
:
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using
constraint_t
=
typename
GRAPH_T::constraint_t;
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CEmptyGSO
();
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~CEmptyGSO
();
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bool
updateState
(
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mrpt::obs::CActionCollection::Ptr
action,
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mrpt::obs::CSensoryFrame::Ptr
observations,
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mrpt::obs::CObservation::Ptr
observation);
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private
:
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void
registerNewEdge
(
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const
mrpt::graphs::TNodeID
& from,
const
mrpt::graphs::TNodeID
& to,
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const
constraint_t
& rel_edge);
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};
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//////////////////////////////////////////////////////////////////////////////
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template
<
class
GRAPH_T>
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CEmptyGSO<GRAPH_T>::CEmptyGSO
()
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{
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}
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template
<
class
GRAPH_T>
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CEmptyGSO<GRAPH_T>::~CEmptyGSO
()
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{
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}
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template
<
class
GRAPH_T>
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bool
CEmptyGSO<GRAPH_T>::updateState
(
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mrpt::obs::CActionCollection::Ptr
action,
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mrpt::obs::CSensoryFrame::Ptr
observations,
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mrpt::obs::CObservation::Ptr
observation)
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{
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return
true
;
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}
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template
<
class
GRAPH_T>
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void
CEmptyGSO<GRAPH_T>::registerNewEdge
(
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const
mrpt::graphs::TNodeID
& from,
const
mrpt::graphs::TNodeID
& to,
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const
constraint_t
& rel_edge)
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{
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}
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}
// end of namespaces
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#endif
/* end of include guard: CEmptyGSO_H */
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CGraphSlamOptimizer.h
CSensoryFrame.h
mrpt::graphslam::optimizers::CEmptyGSO::registerNewEdge
void registerNewEdge(const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge)
Definition:
CEmptyGSO.h:67
mrpt::graphslam::optimizers::CEmptyGSO::constraint_t
typename GRAPH_T::constraint_t constraint_t
Definition:
CEmptyGSO.h:30
std::shared_ptr< CActionCollection >
mrpt::graphslam::optimizers::CEmptyGSO
Empty Edge Registration Decider.
Definition:
CEmptyGSO.h:26
mrpt::graphslam::optimizers::CEmptyGSO::CEmptyGSO
CEmptyGSO()
Definition:
CEmptyGSO.h:49
mrpt::graphslam::optimizers::CEmptyGSO::~CEmptyGSO
~CEmptyGSO()
Definition:
CEmptyGSO.h:53
mrpt::graphslam::optimizers
Definition:
CEmptyGSO.h:18
mrpt::graphslam::optimizers::CGraphSlamOptimizer
Interface for implementing graphSLAM optimizer classes.
Definition:
CGraphSlamOptimizer.h:35
mrpt::graphs::TNodeID
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
Definition:
TNodeID.h:16
mrpt::graphslam::optimizers::CEmptyGSO::updateState
bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
Generic method for fetching the incremental action/observation readings from the calling function...
Definition:
CEmptyGSO.h:58
CObservation.h
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