00001 #pragma once 00002 00003 namespace mrpt { namespace graphslam { 00004 00005 template<class GRAPH_T> 00006 CRegistrationDeciderOrOptimizer_MR<GRAPH_T>::CRegistrationDeciderOrOptimizer_MR() { 00007 this->is_mr_slam_class = true; 00008 } 00009 00010 template<class GRAPH_T> 00011 CRegistrationDeciderOrOptimizer_MR<GRAPH_T>::~CRegistrationDeciderOrOptimizer_MR() { } 00012 00013 template<class GRAPH_T> 00014 void CRegistrationDeciderOrOptimizer_MR<GRAPH_T>::setCConnectionManagerPtr( 00015 mrpt::graphslam::detail::CConnectionManager* conn_manager) { 00016 ASSERTMSG_(conn_manager, "\nInvalid CConnectionManager* pointer.\n"); 00017 00018 m_conn_manager = conn_manager; 00019 own_ns = m_conn_manager->getTrimmedNs(); 00020 } 00021 00022 template<class GRAPH_T> 00023 void CRegistrationDeciderOrOptimizer_MR<GRAPH_T>::setCGraphSlamEnginePtr( 00024 const engine_t* engine) { 00025 ASSERTMSG_(engine, "CGraphSlamEngine pointer is NULL"); 00026 m_engine = engine; 00027 } 00028 00029 00030 00031 } } // end of namespaces 00032