MRPT
1.9.9
CEmptyERD.h
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/* +------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| http://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
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| See: http://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See details in http://www.mrpt.org/License |
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+------------------------------------------------------------------------+ */
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#ifndef CEmptyERD_H
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#define CEmptyERD_H
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#include <
mrpt/obs/CSensoryFrame.h
>
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#include <
mrpt/graphslam/interfaces/CEdgeRegistrationDecider.h
>
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namespace
mrpt::graphslam::deciders
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{
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/**\brief Empty Edge Registration Decider
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*
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* Handy when you are testing other parts of the application but not the
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* specific registration procedure
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*/
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template
<
class
GRAPH_T =
typename
mrpt::graphs::CNetworkOfPoses2DInf>
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class
CEmptyERD
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:
public
mrpt::graphslam::deciders::CEdgeRegistrationDecider
<GRAPH_T>
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{
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public
:
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using
constraint_t
=
typename
GRAPH_T::constraint_t;
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CEmptyERD
();
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~CEmptyERD
();
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bool
updateState
(
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mrpt::obs::CActionCollection::Ptr
action,
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mrpt::obs::CSensoryFrame::Ptr
observations,
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mrpt::obs::CObservation::Ptr
observation);
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private
:
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void
registerNewEdge
(
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const
mrpt::graphs::TNodeID
& from,
const
mrpt::graphs::TNodeID
& to,
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const
constraint_t
& rel_edge);
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};
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//////////////////////////////////////////////////////////////////////////////
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template
<
class
GRAPH_T>
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CEmptyERD<GRAPH_T>::CEmptyERD
()
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{
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}
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template
<
class
GRAPH_T>
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CEmptyERD<GRAPH_T>::~CEmptyERD
()
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{
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}
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template
<
class
GRAPH_T>
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bool
CEmptyERD<GRAPH_T>::updateState
(
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mrpt::obs::CActionCollection::Ptr
action,
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mrpt::obs::CSensoryFrame::Ptr
observations,
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mrpt::obs::CObservation::Ptr
observation)
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{
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return
true
;
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}
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template
<
class
GRAPH_T>
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void
CEmptyERD<GRAPH_T>::registerNewEdge
(
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const
mrpt::graphs::TNodeID
& from,
const
mrpt::graphs::TNodeID
& to,
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const
constraint_t
& rel_edge)
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{
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}
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}
// end of namespaces
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#endif
/* end of include guard: CEmptyERD_H */
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mrpt::graphslam::deciders::CEmptyERD::~CEmptyERD
~CEmptyERD()
Definition:
CEmptyERD.h:52
CSensoryFrame.h
mrpt::graphslam::deciders::CEmptyERD::registerNewEdge
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.
Definition:
CEmptyERD.h:66
mrpt::graphslam::deciders::CEdgeRegistrationDecider
Interface for implementing edge registration classes.
Definition:
CEdgeRegistrationDecider.h:37
mrpt::graphslam::deciders::CEmptyERD::updateState
bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
Generic method for fetching the incremental action/observation readings from the calling function...
Definition:
CEmptyERD.h:57
mrpt::graphslam::deciders::CEmptyERD::constraint_t
typename GRAPH_T::constraint_t constraint_t
Definition:
CEmptyERD.h:29
std::shared_ptr< CActionCollection >
mrpt::graphslam::deciders::CEmptyERD::CEmptyERD
CEmptyERD()
Definition:
CEmptyERD.h:48
mrpt::graphs::TNodeID
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
Definition:
TNodeID.h:16
mrpt::graphslam::deciders
Definition:
CEmptyERD.h:17
mrpt::graphslam::deciders::CEmptyERD
Empty Edge Registration Decider.
Definition:
CEmptyERD.h:25
CEdgeRegistrationDecider.h
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