00001 /* +---------------------------------------------------------------------------+ 00002 | Mobile Robot Programming Toolkit (MRPT) | 00003 | http://www.mrpt.org/ | 00004 | | 00005 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file | 00006 | See: http://www.mrpt.org/Authors - All rights reserved. | 00007 | Released under BSD License. See details in http://www.mrpt.org/License | 00008 +---------------------------------------------------------------------------+ */ 00009 00010 #pragma once 00011 00012 namespace mrpt { namespace graphslam { namespace deciders { 00013 00014 template<class GRAPH_T> 00015 CEdgeRegistrationDecider_MR<GRAPH_T>::CEdgeRegistrationDecider_MR() {} 00016 00017 template<class GRAPH_T> 00018 CEdgeRegistrationDecider_MR<GRAPH_T>::~CEdgeRegistrationDecider_MR() {} 00019 00020 template<class GRAPH_T> 00021 void CEdgeRegistrationDecider_MR<GRAPH_T>::addBatchOfNodeIDsAndScans( 00022 const std::map< 00023 TNodeID, 00024 mrpt::obs::CObservation2DRangeScan::Ptr>& nodeIDs_to_scans2D) { 00025 00026 this->m_nodes_to_laser_scans2D.insert( 00027 nodeIDs_to_scans2D.begin(), 00028 nodeIDs_to_scans2D.end()); 00029 00030 // update the last known number of nodeIDs 00031 this->m_last_total_num_nodes = this->m_graph->nodeCount(); 00032 00033 } // end of addBatchOfNodeIDsAndScans 00034 00035 00036 } } } // end of namespaces 00037