MRPT  2.0.4
CEdgeRegistrationDecider_impl.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 #include <sstream>
11 
13 {
14 template <class GRAPH_T>
16  std::string* report_str) const
17 {
18  std::stringstream ss("");
19  parent::getDescriptiveReport(report_str);
20 
21  ss << "Edge Registration Decider Strategy [ERD]: \n";
22  *report_str += ss.str();
23 }
24 
25 template <class GRAPH_T>
27  const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
28  const constraint_t& rel_edge)
29 {
31  "Registering new edge: " << from << " => " << to << "\n"
32  << "\tRelative Edge: "
33  << rel_edge.getMeanVal().asString()
34  << "\tNorm: " << rel_edge.getMeanVal().norm());
35 }
36 } // namespace mrpt::graphslam::deciders
void getDescriptiveReport(std::string *report_str) const override
Fill the provided string with a detailed report of the decider/optimizer state.
typename GRAPH_t ::constraint_t constraint_t
type of graph constraints
#define MRPT_LOG_DEBUG_STREAM(__CONTENTS)
Use: MRPT_LOG_DEBUG_STREAM("Var=" << value << " foo=" << foo_var);
virtual void registerNewEdge(const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge)
Register a new constraint/edge in the current graph.
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
Definition: TNodeID.h:16



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