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 #ifndef CEDGEREGISTRATIONDECIDER_MR_H 00010 #define CEDGEREGISTRATIONDECIDER_MR_H 00011 00012 #include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_MR.h" 00013 #include "mrpt_graphslam_2d/CConnectionManager.h" 00014 #include <mrpt/graphslam/interfaces/CRangeScanEdgeRegistrationDecider.h> 00015 00016 #include <string> 00017 00018 namespace mrpt { namespace graphslam { namespace deciders { 00019 00036 template<class GRAPH_T> 00037 class CEdgeRegistrationDecider_MR : 00038 public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR<GRAPH_T>, 00039 public virtual mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider<GRAPH_T> 00040 { 00041 public: 00042 CEdgeRegistrationDecider_MR (); 00043 ~CEdgeRegistrationDecider_MR (); 00044 virtual void addBatchOfNodeIDsAndScans( 00045 const std::map< 00046 mrpt::utils::TNodeID, 00047 mrpt::obs::CObservation2DRangeScanPtr>& nodeIDs_to_scans2D); 00048 00049 protected: 00050 }; 00051 00052 } } } // end of namespaces 00053 00054 #include "CEdgeRegistrationDecider_MR_impl.h" 00055 #endif /* end of include guard: CEDGEREGISTRATIONDECIDER_MR_H */