general_slam.hpp

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template <class Point>
class GeneralSLAM<Point>
{
public:
  GeneralSLAM():odometry_(Eigen::Matrix4f::Identity())
  {}

  virtual ~GeneralSLAM() {}

  virtual void  setInputCloud (const PointCloudConstPtr &cloud) {
    input_ = cloud;
  }

  virtual void  setOdometry (const Eigen::Matrix4f &odometry) {
    odometry_ = odometry;
  }

  virtual pcl::PointCloud<Point>::ConstPtr getMap() {
    return map_;
  }

  virtual bool compute() {
    if(!compute_registration())
      return false;
    if(!compute_transformation())
      return false;
    if(!compute_map())
      return false;
  }

protected:

  virtual bool compute_registration()=0;
  virtual bool compute_transformation()=0;
  virtual bool compute_map()=0;

  PointCloudConstPtr input_;
  pcl::PointCloud<Point> map_;
  Eigen::Matrix4f odometry_;

};