template class mrpt::graphslam::CRegistrationDeciderOrOptimizer

Interface for implementing node/edge registration deciders or optimizer classes.

Specific interfaces - for implementing node/edge deciders / optimizers - can inherit from CRegistrationDeciderOrOptimizer so that they can make use of the generic methods defined in the latter.

Convention: For the already implemented deciders/optimizers the following naming convention has been used:

  • NRD: Node Registration Decider class

  • ERD: Edge Registration Decider class

  • GSO: GraphSlam Optimizer class

#include <mrpt/graphslam/interfaces/CRegistrationDeciderOrOptimizer.h>

template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CRegistrationDeciderOrOptimizer: public mrpt::system::COutputLogger

    virtual void setClassName(const std::string& name);
    bool isMultiRobotSlamClass();
    std::string getClassName() const;

// direct descendants

template <class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CGraphSlamOptimizer;

template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CEdgeRegistrationDecider;

template <class GRAPH_T>
class CNodeRegistrationDecider;

Inherited Members

    // structs

    struct TMsg;