CRegistrationDeciderOrOptimizer_MR.h

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#pragma once

#include "mrpt_graphslam_2d/CGraphSlamEngine_MR.h"
#include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_ROS.h"
#include "mrpt_graphslam_2d/CConnectionManager.h"

// forward declaration
namespace mrpt { namespace graphslam {
template<class GRAPH_t> class CGraphSlamEngine_MR;
} }// end of namespaces

namespace mrpt { namespace graphslam {

template<class GRAPH_T>
class CRegistrationDeciderOrOptimizer_MR :
        public mrpt::graphslam::CRegistrationDeciderOrOptimizer_ROS<GRAPH_T>
{
public:
        typedef CGraphSlamEngine_MR<GRAPH_T> engine_t;

        CRegistrationDeciderOrOptimizer_MR();
        ~CRegistrationDeciderOrOptimizer_MR();

        void setCGraphSlamEnginePtr(const engine_t* engine);
        virtual void setCConnectionManagerPtr(
                        mrpt::graphslam::detail::CConnectionManager* conn_manager);

protected:
        mrpt::graphslam::detail::CConnectionManager* m_conn_manager;
        const engine_t* m_engine;
        std::string own_ns;


};

} } // end of namespaces

// template methods implementations
#include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_MR_impl.h"