Template Class CEmptyNRD

Inheritance Relationships

Base Type

Class Documentation

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CEmptyNRD : public mrpt::graphslam::deciders::CNodeRegistrationDecider<typename mrpt::graphs::CNetworkOfPoses2DInf>

Empty Node Registration Decider.

Handy when you are testing other parts of the application but not the specific registration procedure

Public Functions

CEmptyNRD() = default
~CEmptyNRD() override = default
inline virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) override

Generic method for fetching the incremental action-observations (or observation-only) measurements.

Returns:

True if operation was successful. Criteria for Success depend on the decider/optimizer implementing this method

inline virtual global_pose_t getCurrentRobotPosEstimation() const override

Getter method for fetching the currently estimated robot position.

In single-robot situations this is most likely going to be the last registered node position + an position/uncertainty increment from that position