CEdgeRegistrationDecider.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/graphs/CNetworkOfPoses.h>
#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/obs/CSensoryFrame.h>

#include "CRegistrationDeciderOrOptimizer.h"

#include <map>
#include <string>

namespace mrpt::graphslam::deciders
{
/** \brief Interface for implementing edge registration classes.
 *
 * CEdgeRegistrationDecider provides the basic methods that have to exist in
 * every edge registration decider class. For an example of inheriting from
 * this class see CICPCriteriaERD.
 *
 * \note As a naming convention, all the implemented edge registration deciders
 * are suffixed with the ERD acronym.
 *
 * \ingroup mrpt_graphslam_grp
 */
template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CEdgeRegistrationDecider
    : public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T>
{
   public:
    /**\brief Handy typedefs */
    /**\{*/
    /**\brief Parent of current class */
    using parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T>;
    /**\brief type of graph constraints */
    using constraint_t = typename GRAPH_T::constraint_t;
    /**\brief type of underlying poses (2D/3D). */
    using pose_t = typename GRAPH_T::constraint_t::type_value;
    /**\}*/

    CEdgeRegistrationDecider() = default;
    ~CEdgeRegistrationDecider() override = default;
    /**\brief Fill the given map with the type of registered edges as well as
     * the corresponding number of registration of each edge.
     */
    virtual void getEdgesStats(
        std::map<std::string, int>* edge_type_to_num) const {};
    /**\brief Used by the caller to query for possible loop closures in the
     * last edge registration procedure.
     */
    virtual bool justInsertedLoopClosure() const { return m_just_inserted_lc; }
    void getDescriptiveReport(std::string* report_str) const override;

   protected:
    /**\name Registration criteria checks
     *\brief Check whether a new edge should be registered in the
     * graph.
     *
     * If condition(s) for edge registration is satisfied, method should
     * call the registerNewEdge method.
     */
    /**\{*/
    virtual void checkRegistrationCondition(
        mrpt::graphs::TNodeID from, mrpt::graphs::TNodeID to)
    {
    }
    virtual void checkRegistrationCondition(
        const std::set<mrpt::graphs::TNodeID>&)
    {
    }
    /**\}*/
    /**\brief Register a new constraint/edge in the current graph.
     *
     * Implementations of this class should provide a wrapper around
     * GRAPH_T::insertEdge method.
     */
    virtual void registerNewEdge(
        const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
        const constraint_t& rel_edge);

    bool m_just_inserted_lc = false;
    /**\brief Indicates whether the ERD implementation expects, at most one
     * single node to be registered, between successive calls to the
     * updateState method.
     */
    bool m_override_registered_nodes_check = false;
};
}  // namespace mrpt::graphslam::deciders
#include "CEdgeRegistrationDecider_impl.h"