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_IMPL_H 00011 #define CNODEREGISTRATIONDECIDER_MR_IMPL_H 00012 00013 namespace mrpt { namespace graphslam { namespace deciders { 00014 00015 template<class GRAPH_T> 00016 CNodeRegistrationDecider_MR<GRAPH_T>::CNodeRegistrationDecider_MR() {} 00017 00018 template<class GRAPH_T> 00019 CNodeRegistrationDecider_MR<GRAPH_T>::~CNodeRegistrationDecider_MR() {} 00020 00021 template<class GRAPH_T> 00022 void CNodeRegistrationDecider_MR<GRAPH_T>::addNodeAnnotsToPose( 00023 global_pose_t* pose) const { } 00024 00025 template<> 00026 void CNodeRegistrationDecider_MR<mrpt::graphs::CNetworkOfPoses2DInf_NA>::addNodeAnnotsToPose( 00027 global_pose_t* pose) const { 00028 ASSERT_(pose); 00029 00030 pose->agent_ID_str = this->own_ns; 00031 // ASSUMPTION: addNodeAnnotsToPose is going to be called right before the 00032 // actual registration. 00033 // Mark it with the nodeID that is up-next 00034 pose->nodeID_loc = this->m_graph->nodeCount(); 00035 } 00036 00037 } } } // end of namespaces 00038 00039 #endif /* end of include guard: CNODEREGISTRATIONDECIDER_MR_IMPL_H */