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CEmptyGSO.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #ifndef CEmptyGSO_H
11 #define CEmptyGSO_H
12 
13 #include <mrpt/obs/CObservation.h>
14 #include <mrpt/obs/CSensoryFrame.h>
15 
17 
18 namespace mrpt
19 {
20 namespace graphslam
21 {
22 namespace optimizers
23 {
24 /**\brief Empty Edge Registration Decider
25  *
26  * Handy when you are testing other parts of the application but not the
27  * specific registration procedure
28  */
29 template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
30 class CEmptyGSO
32 {
33  public:
34  using constraint_t = typename GRAPH_T::constraint_t;
35 
36  CEmptyGSO();
37  ~CEmptyGSO();
38 
39  bool updateState(
41  mrpt::obs::CSensoryFrame::Ptr observations,
42  mrpt::obs::CObservation::Ptr observation);
43 
44  private:
45  void registerNewEdge(
46  const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
47  const constraint_t& rel_edge);
48 };
49 
50 //////////////////////////////////////////////////////////////////////////////
51 
52 template <class GRAPH_T>
54 {
55 }
56 template <class GRAPH_T>
58 {
59 }
60 
61 template <class GRAPH_T>
64  mrpt::obs::CSensoryFrame::Ptr observations,
65  mrpt::obs::CObservation::Ptr observation)
66 {
67  return true;
68 }
69 
70 template <class GRAPH_T>
72  const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
73  const constraint_t& rel_edge)
74 {
75 }
76 }
77 }
78 } // end of namespaces
79 
80 #endif /* end of include guard: CEmptyGSO_H */
void registerNewEdge(const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge)
Definition: CEmptyGSO.h:71
typename GRAPH_T::constraint_t constraint_t
Definition: CEmptyGSO.h:34
Empty Edge Registration Decider.
Definition: CEmptyGSO.h:30
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Interface for implementing graphSLAM optimizer classes.
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
Definition: TNodeID.h:17
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:62



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