CEdgeRegistrationDecider_impl.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CEDGEREGISTRATIONDECIDER_IMPL_H
#define CEDGEREGISTRATIONDECIDER_IMPL_H

using namespace mrpt::graphslam::deciders;
using namespace std;

#include <sstream>

// Implementation of classes defined in the CNodeRegistrationDecider class
// template.
//

template <class GRAPH_T>
CEdgeRegistrationDecider<GRAPH_T>::CEdgeRegistrationDecider()
        : m_just_inserted_lc(false), m_override_registered_nodes_check(false)
{
}

template <class GRAPH_T>
CEdgeRegistrationDecider<GRAPH_T>::~CEdgeRegistrationDecider()
{
}

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

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

template <class GRAPH_T>
void CEdgeRegistrationDecider<GRAPH_T>::registerNewEdge(
        const mrpt::utils::TNodeID& from, const mrpt::utils::TNodeID& to,
        const constraint_t& rel_edge)
{
        using namespace std;

        MRPT_LOG_DEBUG_STREAM(
                "Registering new edge: " << from << " => " << to << endl
                                                                 << "\tRelative Edge: "
                                                                 << rel_edge.getMeanVal().asString()
                                                                 << "\tNorm: " << rel_edge.getMeanVal().norm());
}

#endif /* end of include guard: CEDGEREGISTRATIONDECIDER_IMPL_H */