10 #ifndef CGRAPHSLAMOPTIMIZER_H 11 #define CGRAPHSLAMOPTIMIZER_H 34 template <
class GRAPH_t =
typename mrpt::graphs::CNetworkOfPoses2DInf>
44 using pose_t =
typename GRAPH_t::constraint_t::type_value;
typename GRAPH_T ::constraint_t constraint_t
Handy typedefs.
virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)=0
Generic method for fetching the incremental action/observation readings from the calling function...
typename GRAPH_T ::constraint_t::type_value pose_t
type of underlying poses (2D/3D)
Interface for implementing node/edge registration deciders or optimizer classes.
virtual void optimizeGraph()=0
method called for optimizing the underlying graph.
Interface for implementing graphSLAM optimizer classes.
virtual bool justFullyOptimizedGraph() const
Used by the caller to query for possible full graph optimization on the latest optimizer run...