CEdgeRegistrationDecider.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#ifndef CEDGEREGISTRATIONDECIDER_H
#define CEDGEREGISTRATIONDECIDER_H
 
#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/graphs/CNetworkOfPoses.h>
 
#include "CRegistrationDeciderOrOptimizer.h"
 
#include <map>
#include <string>
 
namespace mrpt
{
namespace graphslam
{
namespace deciders
{
/** \brief Interface for implementing edge registration classes.
 *
 * CEdgeRegistrationDecider provides the basic methods that have to exist in
 * every edge registration decider class. For an example of inheriting from
 * this class see CICPCriteriaERD.
 *
 * \note As a naming convention, all the implemented edge registration deciders
 * are suffixed with the ERD acronym.
 *
 * \ingroup mrpt_graphslam_grp
 */
template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CEdgeRegistrationDecider
        : public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T>
{
   public:
        /**\brief Handy typedefs */
        /**\{*/
        /**\brief Parent of current class */
        using parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T>;
        /**\brief type of graph constraints */
        using constraint_t = typename GRAPH_T::constraint_t;
        /**\brief type of underlying poses (2D/3D). */
        using pose_t = typename GRAPH_T::constraint_t::type_value;
        /**\}*/
 
        /**\brief Default class constructor.*/
        CEdgeRegistrationDecider();
        /**\brief Default class destructor.*/
        virtual ~CEdgeRegistrationDecider();
        /**\brief Generic method for fetching the incremental action/observation
         * readings from the calling function.
         *
         * Implementations of this interface should use (part of) the specified
         * parameters and call the checkRegistrationCondition to check for
         * potential Edge registration
         */
        virtual bool updateState(
                mrpt::obs::CActionCollection::Ptr action,
                mrpt::obs::CSensoryFrame::Ptr observations,
                mrpt::obs::CObservation::Ptr observation) = 0;
        /**\brief Fill the given map with the type of registered edges as well as
         * the corresponding number of registration of each edge.
         */
        virtual void getEdgesStats(
                std::map<std::string, int>* edge_type_to_num) const {};
        /**\brief Used by the caller to query for possible loop closures in the
         * last edge registration procedure.
         */
        virtual bool justInsertedLoopClosure() const { return m_just_inserted_lc; }
        virtual void getDescriptiveReport(std::string* report_str) const;
 
   protected:
        /**\name Registration criteria checks
                 *\brief Check whether a new edge should be registered in the
                 * graph.
                 *
                 * If condition(s) for edge registration is satisfied, method should
          *call
                 * the registerNewEdge method.
                 */
        /**\{*/
        virtual void checkRegistrationCondition(
                mrpt::graphs::TNodeID from, mrpt::graphs::TNodeID to)
        {
        }
        virtual void checkRegistrationCondition(
                const std::set<mrpt::graphs::TNodeID>&)
        {
        }
        /**\}*/
        /**\brief Register a new constraint/edge in the current graph.
         *
         * Implementations of this class should provide a wrapper around
         * GRAPH_T::insertEdge method.
 */
        virtual void registerNewEdge(
                const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
                const constraint_t& rel_edge);
 
        bool m_just_inserted_lc;
        /**\brief Indicates whether the ERD implementation expects, at most one
         * single node to be registered, between successive calls to the
         * updateState method.
         *
         * By default set to false.
         */
        bool m_override_registered_nodes_check;
};
}
}
}  // end of namespaces
 
#include "CEdgeRegistrationDecider_impl.h"
 
#endif /* end of include guard: CEDGEREGISTRATIONDECIDER_H */