Node Registration Decider Interface Class. More...
#include <CNodeRegistrationDecider_MR.h>
Public Types | |
| typedef GRAPH_T::global_pose_t | global_pose_t |
 Public Types inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR< GRAPH_T > | |
| typedef CGraphSlamEngine_MR< GRAPH_T > | engine_t |
Public Member Functions | |
| CNodeRegistrationDecider_MR () | |
| ~CNodeRegistrationDecider_MR () | |
| Public Member Functions inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR< GRAPH_T > | |
| CRegistrationDeciderOrOptimizer_MR () | |
| virtual void | setCConnectionManagerPtr (mrpt::graphslam::detail::CConnectionManager *conn_manager) |
| void | setCGraphSlamEnginePtr (const engine_t *engine) |
| ~CRegistrationDeciderOrOptimizer_MR () | |
| Public Member Functions inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_ROS< GRAPH_T > | |
| CRegistrationDeciderOrOptimizer_ROS () | |
| virtual void | setNodeHandle (ros::NodeHandle *nh) |
| virtual | ~CRegistrationDeciderOrOptimizer_ROS () |
Protected Member Functions | |
| template<> | |
| void | addNodeAnnotsToPose (global_pose_t *pose) const |
| void | addNodeAnnotsToPose (global_pose_t *pose) const |
| Decorate a pose according to the TMRSlamNodeAnnotation fields. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR< GRAPH_T > | |
| mrpt::graphslam::detail::CConnectionManager * | m_conn_manager |
| Pointer to the CConnectionManager instance. More... | |
| const engine_t * | m_engine |
| Constant pointer to the CGraphSlamEngine_MR instance. More... | |
| std::string | own_ns |
| Protected Attributes inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_ROS< GRAPH_T > | |
| ros::NodeHandle * | m_nh |
| NodeHandle instance. More... | |
Detailed Description
template<class GRAPH_T>
class mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >
Node Registration Decider Interface Class.
Node Registration Decider classes that are to be used in a multi-robot SLAM scheme according to the Condensed Measurements multi-robot strategy by M.T. Lazaro et al. [1] are to inherit from this method.
- Note
- Condensed Measurements-related classes are suffixed with _MR.
- For an example of inheriting from this class, see the mrpt::graphslam::deciders::CFixedIntervalsNRD_MR.
[1] Multi-robot SLAM using Condensed Measurements - M.T. Lazaro, L.M. Paz, P. Pinies, J.A. Castellanos, G. Grisetti
Definition at line 35 of file CNodeRegistrationDecider_MR.h.
Member Typedef Documentation
| typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >::global_pose_t |
Definition at line 40 of file CNodeRegistrationDecider_MR.h.
Constructor & Destructor Documentation
| mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >::CNodeRegistrationDecider_MR | ( | ) |
Definition at line 15 of file CNodeRegistrationDecider_MR_impl.h.
| mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >::~CNodeRegistrationDecider_MR | ( | ) |
Definition at line 18 of file CNodeRegistrationDecider_MR_impl.h.
Member Function Documentation
|
protected |
Definition at line 25 of file CNodeRegistrationDecider_MR_impl.h.
|
protected |
Decorate a pose according to the TMRSlamNodeAnnotation fields.
- Note
- Do this only for the nodes that are initially registered in the graph by the current CGraphSlamEngine_t class. Nodes of other graphSLAM-agents that are to be integrated must have already filled these fields.
Definition at line 21 of file CNodeRegistrationDecider_MR_impl.h.
The documentation for this class was generated from the following files: