CNodeRegistrationDecider_MR_impl.h

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/* +---------------------------------------------------------------------------+
   |                     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

namespace mrpt { namespace graphslam { namespace deciders {

template<class GRAPH_T>
CNodeRegistrationDecider_MR<GRAPH_T>::CNodeRegistrationDecider_MR() {}

template<class GRAPH_T>
CNodeRegistrationDecider_MR<GRAPH_T>::~CNodeRegistrationDecider_MR() {}

template<class GRAPH_T>
void CNodeRegistrationDecider_MR<GRAPH_T>::addNodeAnnotsToPose(
                global_pose_t* pose) const { }

template<>
void CNodeRegistrationDecider_MR<mrpt::graphs::CNetworkOfPoses2DInf_NA>::addNodeAnnotsToPose(
                global_pose_t* pose) const {
        ASSERT_(pose);

        pose->agent_ID_str = this->own_ns;
        // ASSUMPTION: addNodeAnnotsToPose is going to be called right before the
        // actual registration.
        // Mark it with the nodeID that is up-next 
        pose->nodeID_loc = this->m_graph->nodeCount();
}

} } } // end of namespaces