Main MRPT website > C++ reference for MRPT 1.9.9
CEmptyERD.h
Go to the documentation of this file.
1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #ifndef CEmptyERD_H
11 #define CEmptyERD_H
12 
13 #include <mrpt/obs/CSensoryFrame.h>
14 
16 
17 namespace mrpt
18 {
19 namespace graphslam
20 {
21 namespace deciders
22 {
23 /**\brief Empty Edge Registration Decider
24  *
25  * Handy when you are testing other parts of the application but not the
26  * specific registration procedure
27  */
28 template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
29 class CEmptyERD
31 {
32  public:
33  using constraint_t = typename GRAPH_T::constraint_t;
34 
35  CEmptyERD();
36  ~CEmptyERD();
37 
38  bool updateState(
40  mrpt::obs::CSensoryFrame::Ptr observations,
41  mrpt::obs::CObservation::Ptr observation);
42 
43  private:
44  void registerNewEdge(
45  const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
46  const constraint_t& rel_edge);
47 };
48 
49 //////////////////////////////////////////////////////////////////////////////
50 
51 template <class GRAPH_T>
53 {
54 }
55 template <class GRAPH_T>
57 {
58 }
59 
60 template <class GRAPH_T>
63  mrpt::obs::CSensoryFrame::Ptr observations,
64  mrpt::obs::CObservation::Ptr observation)
65 {
66  return true;
67 }
68 
69 template <class GRAPH_T>
71  const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
72  const constraint_t& rel_edge)
73 {
74 }
75 }
76 }
77 } // end of namespaces
78 
79 #endif /* end of include guard: CEmptyERD_H */
mrpt::obs::CObservation::Ptr
std::shared_ptr< CObservation > Ptr
Definition: CObservation.h:45
mrpt::obs::CSensoryFrame::Ptr
std::shared_ptr< CSensoryFrame > Ptr
Definition: CSensoryFrame.h:56
mrpt::graphslam::deciders::CEmptyERD::constraint_t
typename GRAPH_T::constraint_t constraint_t
Definition: CEmptyERD.h:33
mrpt::graphslam::deciders::CEdgeRegistrationDecider
Interface for implementing edge registration classes.
Definition: CEdgeRegistrationDecider.h:41
mrpt::graphslam::deciders::CEmptyERD
Empty Edge Registration Decider.
Definition: CEmptyERD.h:29
mrpt::graphs::TNodeID
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
Definition: TNodeID.h:17
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CKalmanFilterCapable.h:30
CEdgeRegistrationDecider.h
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:61
mrpt::graphslam::deciders::CEmptyERD::~CEmptyERD
~CEmptyERD()
Definition: CEmptyERD.h:56
CSensoryFrame.h
mrpt::graphslam::deciders::CEmptyERD::CEmptyERD
CEmptyERD()
Definition: CEmptyERD.h:52
mrpt::obs::CActionCollection::Ptr
std::shared_ptr< CActionCollection > Ptr
Definition: CActionCollection.h:30
mrpt::graphslam::deciders::CEmptyERD::registerNewEdge
void registerNewEdge(const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge)
Definition: CEmptyERD.h:70



Page generated by Doxygen 1.8.17 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at miƩ 12 jul 2023 10:03:34 CEST