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CRangeScanEdgeRegistrationDecider.h
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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 #ifndef CRANGESCANEDGEREGISTRATIONDECIDER_H
10 #define CRANGESCANEDGEREGISTRATIONDECIDER_H
11 
15 
16 namespace mrpt
17 {
18 namespace graphslam
19 {
20 namespace deciders
21 {
22 /**\brief Edge Registration Decider Interface from which RangeScanner-based
23  * ERDs can inherit from.
24  *
25  * Holds common vars for the underlying classesand provides methods for
26  * accessing and modifying them.
27  *
28  * \note Since the decider inherits from the CRangeScanOps
29  * class, it parses the configuration parameters of the latter as well from the
30  * "ICP" section. Refer to the CRangeScanOps documentation for
31  * its list of configuration parameters
32  */
33 template <class GRAPH_T>
35  : public virtual CEdgeRegistrationDecider<GRAPH_T>,
36  public CRangeScanOps<GRAPH_T>
37 {
38  public:
39  using parent_t =
41  /**\brief Typedef for accessing methods of the
42  * RangeScanRegistrationDecider_t parent class.
43  */
45  using nodes_to_scans2D_t = std::map<
47 
50 
51  protected:
52  /**\name Relevant-observations manipulation
53  * Methods for manipulating the underlying storage of the
54  * observation that the specific decider implementations.
55  * \note Defining a generic way of dealing with the underlying
56  * measurements, allows for flexible storage as well as possible
57  * modification to the method behavior.
58  */
59  /**\{ */
60  /**\brief Fetch the latest observation that the current instance
61  * received (most probably during a call to the updateState method.
62  */
63  // TODO - Implement these
64  /**\} */
65 
66  virtual void loadParams(const std::string& source_fname);
67  virtual void printParams() const;
68  /**\brief Map for keeping track of the observation recorded at each graph
69  * position
70  */
72  /**\brief Keep track of the total number of registered nodes since the last
73  * time class method was called
74  */
76 
77  private:
78 };
79 } // namespace deciders
80 } // namespace graphslam
81 } // namespace mrpt
82 
84 
85 #endif /* end of include guard: CRANGESCANEDGEREGISTRATIONDECIDER_H */
mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider::CRangeScanEdgeRegistrationDecider
CRangeScanEdgeRegistrationDecider()
Definition: CRangeScanEdgeRegistrationDecider_impl.h:19
CRangeScanEdgeRegistrationDecider_impl.h
mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider::m_nodes_to_laser_scans2D
nodes_to_scans2D_t m_nodes_to_laser_scans2D
Map for keeping track of the observation recorded at each graph position.
Definition: CRangeScanEdgeRegistrationDecider.h:71
mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider::~CRangeScanEdgeRegistrationDecider
~CRangeScanEdgeRegistrationDecider()
Definition: CRangeScanEdgeRegistrationDecider_impl.h:25
mrpt::graphslam::deciders::CEdgeRegistrationDecider
Interface for implementing edge registration classes.
Definition: CEdgeRegistrationDecider.h:41
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
CRangeScanOps.h
mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider::printParams
virtual void printParams() const
Definition: CRangeScanEdgeRegistrationDecider_impl.h:42
mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::nodes_to_scans2D_t
std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr > nodes_to_scans2D_t
Definition: CRangeScanEdgeRegistrationDecider.h:46
mrpt::obs::CObservation2DRangeScan::Ptr
std::shared_ptr< CObservation2DRangeScan > Ptr
Definition: CObservation2DRangeScan.h:58
mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider::loadParams
virtual void loadParams(const std::string &source_fname)
Fetch the latest observation that the current instance received (most probably during a call to the u...
Definition: CRangeScanEdgeRegistrationDecider_impl.h:30
mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider::m_last_total_num_nodes
size_t m_last_total_num_nodes
Keep track of the total number of registered nodes since the last time class method was called.
Definition: CRangeScanEdgeRegistrationDecider.h:75
mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider
Edge Registration Decider Interface from which RangeScanner-based ERDs can inherit from.
Definition: CRangeScanEdgeRegistrationDecider.h:34
string
GLsizei const GLchar ** string
Definition: glext.h:4101
mrpt::graphslam::deciders::CRangeScanOps
Class for keeping together all the RangeScanner-related functions.
Definition: CRangeScanOps.h:76
CObservation2DRangeScan.h



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