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CRangeScanEdgeRegistrationDecider.h
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1 #ifndef CRANGESCANEDGEREGISTRATIONDECIDER_H
2 #define CRANGESCANEDGEREGISTRATIONDECIDER_H
3 
7 
8 namespace mrpt { namespace graphslam { namespace deciders {
9 
10 /**\brief Edge Registration Decider Interface from which RangeScanner-based
11  * ERDs can inherit from.
12  *
13  * Holds common vars for the underlying classesand provides methods for
14  * accessing and modifying them.
15  *
16  * \note Since the decider inherits from the CRangeScanOps
17  * class, it parses the configuration parameters of the latter as well from the
18  * "ICP" section. Refer to the CRangeScanOps documentation for
19  * its list of configuration parameters
20  */
21 template<class GRAPH_T>
23  public virtual CEdgeRegistrationDecider<GRAPH_T>,
24  public CRangeScanOps<GRAPH_T>
25 {
26  public:
29  /**\brief Typedef for accessing methods of the
30  * RangeScanRegistrationDecider_t parent class.
31  */
34  typedef std::map<
36  mrpt::obs::CObservation2DRangeScanPtr> nodes_to_scans2D_t;
37 
40 
41  protected:
42  /**\name Relevant-observations manipulation
43  * Methods for manipulating the underlying storage of the
44  * observation that the specific decider implementations.
45  * \note Defining a generic way of dealing with the underlying
46  * measurements, allows for flexible storage as well as possible
47  * modification to the method behavior.
48  */
49  /**\{ */
50  /**\brief Fetch the latest observation that the current instance
51  * received (most probably during a call to the updateState method.
52  */
53  // TODO - Implement these
54  /**\} */
55 
56  virtual void loadParams(const std::string& source_fname);
57  virtual void printParams() const;
58  /**\brief Map for keeping track of the observation recorded at each graph
59  * position
60  */
61  nodes_to_scans2D_t m_nodes_to_laser_scans2D;
62  /**\brief Keep track of the total number of registered nodes since the last
63  * time class method was called
64  */
66 
67  private:
68 
69 };
70 
71 } } } // end of namespaces
72 
74 
75 #endif /* end of include guard: CRANGESCANEDGEREGISTRATIONDECIDER_H */
virtual void loadParams(const std::string &source_fname)
Fetch the latest observation that the current instance received (most probably during a call to the u...
std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr > nodes_to_scans2D_t
mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T > parent_t
Interface for implementing edge registration classes.
size_t m_last_total_num_nodes
Keep track of the total number of registered nodes since the last time class method was called...
Edge Registration Decider Interface from which RangeScanner-based ERDs can inherit from...
uint64_t TNodeID
The type for node IDs in graphs of different types.
mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T > range_ops_t
Typedef for accessing methods of the RangeScanRegistrationDecider_t parent class. ...
virtual void printParams() const
Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact w...
Class for keeping together all the RangeScanner-related functions.
Definition: CRangeScanOps.h:81
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLsizei const GLcharARB ** string
Definition: glew.h:3293
nodes_to_scans2D_t m_nodes_to_laser_scans2D
Map for keeping track of the observation recorded at each graph position.



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