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 #ifndef CEDGEREGISTRATIONDECIDER_MR_IMPL_H 00011 #define CEDGEREGISTRATIONDECIDER_MR_IMPL_H 00012 00013 namespace mrpt { namespace graphslam { namespace deciders { 00014 00015 template<class GRAPH_T> 00016 CEdgeRegistrationDecider_MR<GRAPH_T>::CEdgeRegistrationDecider_MR() {} 00017 00018 template<class GRAPH_T> 00019 CEdgeRegistrationDecider_MR<GRAPH_T>::~CEdgeRegistrationDecider_MR() {} 00020 00021 template<class GRAPH_T> 00022 void CEdgeRegistrationDecider_MR<GRAPH_T>::addBatchOfNodeIDsAndScans( 00023 const std::map< 00024 mrpt::utils::TNodeID, 00025 mrpt::obs::CObservation2DRangeScanPtr>& nodeIDs_to_scans2D) { 00026 00027 this->m_nodes_to_laser_scans2D.insert( 00028 nodeIDs_to_scans2D.begin(), 00029 nodeIDs_to_scans2D.end()); 00030 00031 // update the last known number of nodeIDs 00032 this->m_last_total_num_nodes = this->m_graph->nodeCount(); 00033 00034 } // end of addBatchOfNodeIDsAndScans 00035 00036 00037 } } } // end of namespaces 00038 00039 #endif /* end of include guard: CEDGEREGISTRATIONDECIDER_MR_IMPL_H */