TUserOptionsChecker_ROS_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 apps {

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

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

template<class GRAPH_T>
void TUserOptionsChecker_ROS<GRAPH_T>::
createDeciderOptimizerMappings() {
        using namespace std;
        using namespace mrpt::graphs;
        using namespace mrpt::graphslam::apps;
        using namespace mrpt::graphslam::deciders;
        parent::createDeciderOptimizerMappings();

        // node registration deciders
        this->node_regs_map["CICPCriteriaNRD_MR"] =
                parent::template createNodeRegistrationDecider<CICPCriteriaNRD_MR<GRAPH_T>>;
        this->node_regs_map["CFixedIntervalsNRD_MR"] =
                parent::template createNodeRegistrationDecider<CFixedIntervalsNRD_MR<GRAPH_T>>;

        // edge registration deciders
        this->edge_regs_map["CLoopCloserERD_MR"] =
                parent::template createEdgeRegistrationDecider<CLoopCloserERD_MR<GRAPH_T>>;

        // optimizers

} // end of createDeciderOptimizerMappings

template<class GRAPH_T>
void TUserOptionsChecker_ROS<GRAPH_T>::populateDeciderOptimizerProperties() {
        using namespace mrpt::graphslam::apps;
        using namespace std;

        parent::populateDeciderOptimizerProperties();
        { // CICPCriteriaNRD_MR
                TRegistrationDeciderProps* dec = new TRegistrationDeciderProps;
                dec->name = "CICPCriteriaNRD_MR";
                dec->description =
                        "Multi-robot SLAM implementation of the CICPCriteriaNRD class based on \"Condensed Measurements\"";
                dec->type = "Node";
                dec->rawlog_format = "Both";
                dec->observations_used.push_back("CObservation2DRangeScan - Format #1, #2");
                dec->is_mr_slam_class = "true";

                this->regs_descriptions.push_back(dec);
        }
        { // CFixedIntervalsNRD_MR
                TRegistrationDeciderProps* dec = new TRegistrationDeciderProps;
                dec->name = "CFixedIntervalsNRD_MR";
                dec->description =
                        "Multi-robot SLAM implementation of the CFixedIntervalsNRD class based on \"Condensed Measurements\"";
                dec->type = "Node";
                dec->rawlog_format = "Both";
                dec->observations_used.push_back("CObservation2DRangeScan - Format #1, #2");
                dec->is_mr_slam_class = "true";

                this->regs_descriptions.push_back(dec);
        }

        { // CLoopCloserERD_MR
                TRegistrationDeciderProps* dec = new TRegistrationDeciderProps;
                dec->name = "CLoopCloserERD_MR";
                dec->description =
                        "Multi-robot SLAM implementation of the CLoopCloserERD class based on \"Condensed Measurements\"";
                dec->type = "Edge";
                dec->rawlog_format = "Both";
                dec->observations_used.push_back("CObservation2DRangeScan - Format #1, #2");
                dec->is_mr_slam_class = "true";

                this->regs_descriptions.push_back(dec);
        }

}

} } } //end namespaces