MRPT  2.0.5
CEmptyERD.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 
10 #pragma once
11 
12 #include <mrpt/obs/CSensoryFrame.h>
13 
15 
17 {
18 /**\brief Empty Edge Registration Decider
19  *
20  * Handy when you are testing other parts of the application but not the
21  * specific registration procedure
22  */
23 template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
24 class CEmptyERD
26 {
27  public:
28  using constraint_t = typename GRAPH_T::constraint_t;
29 
30  CEmptyERD() = default;
31  ~CEmptyERD() override = default;
32 
35  mrpt::obs::CSensoryFrame::Ptr observations,
36  mrpt::obs::CObservation::Ptr observation) override
37  {
38  return true;
39  }
40 
41  private:
43  const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
44  const constraint_t& rel_edge) override
45  {
46  }
47 };
48 } // namespace mrpt::graphslam::deciders
void registerNewEdge(const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge) override
Register a new constraint/edge in the current graph.
Definition: CEmptyERD.h:42
Interface for implementing edge registration classes.
bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) override
Generic method for fetching the incremental action-observations (or observation-only) measurements...
Definition: CEmptyERD.h:33
typename GRAPH_T::constraint_t constraint_t
Definition: CEmptyERD.h:28
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
Definition: TNodeID.h:16
Empty Edge Registration Decider.
Definition: CEmptyERD.h:24



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