template class mrpt::graphslam::optimizers::CEmptyGSO
Empty Edge Registration Decider.
Handy when you are testing other parts of the application but not the specific registration procedure
#include <mrpt/graphslam/GSO/CEmptyGSO.h> template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf> class CEmptyGSO: public mrpt::graphslam::optimizers::CGraphSlamOptimizer { public: // typedefs typedef typename GRAPH_T::constraint_t constraint_t; // construction CEmptyGSO(); // methods virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation); virtual bool justFullyOptimizedGraph() const; virtual void getDescriptiveReport(std::string* report_str) const; };
Inherited Members
public: // typedefs typedef typename GRAPH_t::constraint_t constraint_t; typedef typename GRAPH_t::constraint_t::type_value pose_t; // structs struct TMsg; // methods virtual void setClassName(const std::string& name); bool isMultiRobotSlamClass(); std::string getClassName() const;
Methods
virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
Generic method for fetching the incremental action-observations (or observation-only) measurements.
Returns:
True if operation was successful. Criteria for Success depend on the decider/optimizer implementing this method
virtual bool justFullyOptimizedGraph() const
Used by the caller to query for possible full graph optimization on the latest optimizer run.
virtual void getDescriptiveReport(std::string* report_str) const
Fill the provided string with a detailed report of the decider/optimizer state.
Report should include (part of) the following:
Timing of important methods
Properties fo class at the current time
Logging of commands until current time