CEdgeRegistrationDecider_impl.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 <sstream>

namespace mrpt::graphslam::deciders
{
template <class GRAPH_T>
void CEdgeRegistrationDecider<GRAPH_T>::getDescriptiveReport(
    std::string* report_str) const
{
    std::stringstream ss("");
    parent::getDescriptiveReport(report_str);

    ss << "Edge Registration Decider Strategy [ERD]: \n";
    *report_str += ss.str();
}

template <class GRAPH_T>
void CEdgeRegistrationDecider<GRAPH_T>::registerNewEdge(
    const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
    const constraint_t& rel_edge)
{
    MRPT_LOG_DEBUG_STREAM(
        "Registering new edge: " << from << " => " << to << "\n"
                                 << "\tRelative Edge: "
                                 << rel_edge.getMeanVal().asString()
                                 << "\tNorm: " << rel_edge.getMeanVal().norm());
}
}  // namespace mrpt::graphslam::deciders