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 CNODEREGISTRATIONDECIDER_MR_H 00011 #define CNODEREGISTRATIONDECIDER_MR_H 00012 00013 #include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_MR.h" 00014 #include <mrpt/graphslam/interfaces/CNodeRegistrationDecider.h> 00015 #include <mrpt/graphs/CNetworkOfPoses.h> 00016 00017 namespace mrpt { namespace graphslam { namespace deciders { 00018 00035 template<class GRAPH_T> 00036 class CNodeRegistrationDecider_MR : 00037 public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR<GRAPH_T>, 00038 public virtual CNodeRegistrationDecider<GRAPH_T> 00039 { 00040 public: 00041 typedef typename GRAPH_T::global_pose_t global_pose_t; 00042 00043 CNodeRegistrationDecider_MR (); 00044 ~CNodeRegistrationDecider_MR (); 00045 protected: 00052 void addNodeAnnotsToPose(global_pose_t* pose) const; 00053 }; 00054 00055 } } } // end of namespaces 00056 00057 #include "CNodeRegistrationDecider_MR_impl.h" 00058 #endif /* end of include guard: CNODEREGISTRATIONDECIDER_MR_H */