CEmptyGSO.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 CEmptyGSO_H
#define CEmptyGSO_H
 
#include <mrpt/obs/CObservation.h>
#include <mrpt/obs/CSensoryFrame.h>
 
#include <mrpt/graphslam/interfaces/CGraphSlamOptimizer.h>
 
namespace mrpt
{
namespace graphslam
{
namespace optimizers
{
/**\brief Empty Edge Registration Decider
 *
 * Handy when you are testing other parts of the application but not the
 * specific registration procedure
 */
template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CEmptyGSO
        : public mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T>
{
   public:
        using constraint_t = typename GRAPH_T::constraint_t;
 
        CEmptyGSO();
        ~CEmptyGSO();
 
        bool updateState(
                mrpt::obs::CActionCollection::Ptr action,
                mrpt::obs::CSensoryFrame::Ptr observations,
                mrpt::obs::CObservation::Ptr observation);
 
   private:
        void registerNewEdge(
                const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
                const constraint_t& rel_edge);
};
 
//////////////////////////////////////////////////////////////////////////////
 
template <class GRAPH_T>
CEmptyGSO<GRAPH_T>::CEmptyGSO()
{
}
template <class GRAPH_T>
CEmptyGSO<GRAPH_T>::~CEmptyGSO()
{
}
 
template <class GRAPH_T>
bool CEmptyGSO<GRAPH_T>::updateState(
        mrpt::obs::CActionCollection::Ptr action,
        mrpt::obs::CSensoryFrame::Ptr observations,
        mrpt::obs::CObservation::Ptr observation)
{
        return true;
}
 
template <class GRAPH_T>
void CEmptyGSO<GRAPH_T>::registerNewEdge(
        const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
        const constraint_t& rel_edge)
{
}
}
}
}  // end of namespaces
 
#endif /* end of include guard: CEmptyGSO_H */