00001 #ifndef CREGISTRATIONDECIDEROROPTIMIZER_MR_IMPL_H 00002 #define CREGISTRATIONDECIDEROROPTIMIZER_MR_IMPL_H 00003 00004 namespace mrpt { namespace graphslam { 00005 00006 template<class GRAPH_T> 00007 CRegistrationDeciderOrOptimizer_MR<GRAPH_T>::CRegistrationDeciderOrOptimizer_MR() { 00008 this->is_mr_slam_class = true; 00009 } 00010 00011 template<class GRAPH_T> 00012 CRegistrationDeciderOrOptimizer_MR<GRAPH_T>::~CRegistrationDeciderOrOptimizer_MR() { } 00013 00014 template<class GRAPH_T> 00015 void CRegistrationDeciderOrOptimizer_MR<GRAPH_T>::setCConnectionManagerPtr( 00016 mrpt::graphslam::detail::CConnectionManager* conn_manager) { 00017 ASSERTMSG_(conn_manager, "\nInvalid CConnectionManager* pointer.\n"); 00018 00019 m_conn_manager = conn_manager; 00020 own_ns = m_conn_manager->getTrimmedNs(); 00021 } 00022 00023 template<class GRAPH_T> 00024 void CRegistrationDeciderOrOptimizer_MR<GRAPH_T>::setCGraphSlamEnginePtr( 00025 const engine_t* engine) { 00026 ASSERTMSG_(engine, "CGraphSlamEngine pointer is NULL"); 00027 m_engine = engine; 00028 } 00029 00030 00031 00032 } } // end of namespaces 00033 00034 #endif /* end of include guard: CREGISTRATIONDECIDEROROPTIMIZER_MR_IMPL_H */