template class mrpt::graphslam::deciders::CNodeRegistrationDecider
Interface for implementing node registration classes.
CNodeRegistrationDecider provides the basic methods that have to exist in every node registration decider class. For an example of inheriting from this class see CFixedIntervalsNRD.
As a naming convention, all the implemented node registration deciders are suffixed with the NRD acronym.
#include <mrpt/graphslam/interfaces/CNodeRegistrationDecider.h> template <class GRAPH_T> class CNodeRegistrationDecider: public mrpt::graphslam::CRegistrationDeciderOrOptimizer { public: // typedefs typedef typename GRAPH_T::constraint_t::type_value pose_t; typedef typename GRAPH_T::global_pose_t global_pose_t; typedef mrpt::math::CMatrixFixed<double, constraint_t::state_length, constraint_t::state_length> inf_mat_t; // construction CNodeRegistrationDecider(); }; // direct descendants template <class GRAPH_T> class CICPCriteriaNRD; template <class GRAPH_T> class CIncrementalNodeRegistrationDecider;
Inherited Members
public: // structs struct TMsg; // methods virtual void setClassName(const std::string& name); bool isMultiRobotSlamClass(); std::string getClassName() const;
Typedefs
typedef typename GRAPH_T::constraint_t::type_value pose_t
type of underlying poses (2D/3D).
Construction
CNodeRegistrationDecider()
Default class constructor.