CLoopCloserERD_MR.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#pragma once

#include "mrpt_graphslam_2d/interfaces/CEdgeRegistrationDecider_MR.h"
#include <mrpt_bridge/laser_scan.h>
#include <mrpt/graphslam/ERD/CLoopCloserERD.h>
#include <mrpt_msgs/NodeIDWithLaserScan.h>

namespace mrpt { namespace graphslam { namespace deciders {

template<class GRAPH_T>
class CLoopCloserERD_MR :
        public virtual CLoopCloserERD<GRAPH_T>,
        public virtual CEdgeRegistrationDecider_MR<GRAPH_T>
{
public:
        typedef CLoopCloserERD<GRAPH_T> lc_parent_t; 
        typedef CEdgeRegistrationDecider_MR<GRAPH_T> mr_parent_t; 
        typedef CLoopCloserERD_MR<GRAPH_T> decider_t; 
        typedef typename lc_parent_t::constraint_t constraint_t;
        typedef typename lc_parent_t::pose_t pose_t;
        typedef typename lc_parent_t::range_ops_t range_ops_t;
        typedef typename lc_parent_t::partitions_t partitions_t;
        typedef typename lc_parent_t::nodes_to_scans2D_t nodes_to_scans2D_t;
        typedef mrpt::graphslam::CGraphSlamEngine_MR<GRAPH_T> engine_t;
        typedef typename GRAPH_T::global_pose_t global_pose_t;
        CLoopCloserERD_MR();

        // member implementations
        bool updateState(
                        mrpt::obs::CActionCollection::Ptr action,
                        mrpt::obs::CSensoryFrame::Ptr observations,
                        mrpt::obs::CObservation::Ptr observation );
        void addBatchOfNodeIDsAndScans(
                        const std::map<
                                TNodeID,
                                mrpt::obs::CObservation2DRangeScan::Ptr>& nodeIDs_to_scans2D);
        void addScanMatchingEdges(TNodeID curr_nodeID);
        void fetchNodeIDsForScanMatching(
                        const TNodeID& curr_nodeID,
                        std::set<TNodeID>* nodes_set);

protected:

};

} } } // end of namespaces

#include "CLoopCloserERD_MR_impl.h"