00001 /* +---------------------------------------------------------------------------+ 00002 | Mobile Robot Programming Toolkit (MRPT) | 00003 | http://www.mrpt.org/ | 00004 | | 00005 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file | 00006 | See: http://www.mrpt.org/Authors - All rights reserved. | 00007 | Released under BSD License. See details in http://www.mrpt.org/License | 00008 +---------------------------------------------------------------------------+ */ 00009 00010 #pragma once 00011 00012 #include "mrpt_graphslam_2d/interfaces/CNodeRegistrationDecider_MR.h" 00013 #include <mrpt/graphslam/NRD/CICPCriteriaNRD.h> 00014 00015 namespace mrpt { namespace graphslam { namespace deciders { 00016 00017 template<class GRAPH_T> 00018 class CFixedIntervalsNRD_MR : 00019 public virtual CFixedIntervalsNRD<GRAPH_T>, 00020 public virtual CNodeRegistrationDecider_MR<GRAPH_T> 00021 { 00022 public: 00023 typedef CNodeRegistrationDecider_MR<GRAPH_T> parent_cm; 00024 typedef CFixedIntervalsNRD<GRAPH_T> parent_mrpt; 00025 typedef typename GRAPH_T::global_pose_t global_pose_t; 00026 00027 CFixedIntervalsNRD_MR(); 00028 00029 private: 00030 00031 00032 }; 00033 00034 } } } // end of namespaces 00035 00036 #include "CFixedIntervalsNRD_MR_impl.h" 00037 00038 00039