Template Class CRangeScanEdgeRegistrationDecider

Inheritance Relationships

Base Types

Class Documentation

template<class GRAPH_T>
class CRangeScanEdgeRegistrationDecider : public virtual mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T>, public mrpt::graphslam::deciders::CRangeScanOps<GRAPH_T>

Edge Registration Decider Interface from which RangeScanner-based ERDs can inherit from.

Holds common vars for the underlying classesand provides methods for accessing and modifying them.

Note

Since the decider inherits from the CRangeScanOps class, it parses the configuration parameters of the latter as well from the “ICP” section. Refer to the CRangeScanOps documentation for its list of configuration parameters

Public Types

using parent_t = mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T>
using range_ops_t = mrpt::graphslam::deciders::CRangeScanOps<GRAPH_T>

Typedef for accessing methods of the RangeScanRegistrationDecider_t parent class.

using nodes_to_scans2D_t = std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr>

Public Functions

CRangeScanEdgeRegistrationDecider() = default
~CRangeScanEdgeRegistrationDecider() override = default

Protected Functions

virtual void loadParams(const std::string &source_fname) override

Load the necessary for the decider/optimizer configuration parameters.

virtual void printParams() const override

Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.

Protected Attributes

nodes_to_scans2D_t m_nodes_to_laser_scans2D

Map for keeping track of the observation recorded at each graph position.

size_t m_last_total_num_nodes = 0

Keep track of the total number of registered nodes since the last time class method was called.