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 CNodeRegistrationDecider_MR<GRAPH_T>::CNodeRegistrationDecider_MR() {} 00016 00017 template<class GRAPH_T> 00018 CNodeRegistrationDecider_MR<GRAPH_T>::~CNodeRegistrationDecider_MR() {} 00019 00020 template<class GRAPH_T> 00021 void CNodeRegistrationDecider_MR<GRAPH_T>::addNodeAnnotsToPose( 00022 global_pose_t* pose) const { } 00023 00024 template<> 00025 void CNodeRegistrationDecider_MR<mrpt::graphs::CNetworkOfPoses2DInf_NA>::addNodeAnnotsToPose( 00026 global_pose_t* pose) const { 00027 ASSERT_(pose); 00028 00029 pose->agent_ID_str = this->own_ns; 00030 // ASSUMPTION: addNodeAnnotsToPose is going to be called right before the 00031 // actual registration. 00032 // Mark it with the nodeID that is up-next 00033 pose->nodeID_loc = this->m_graph->nodeCount(); 00034 } 00035 00036 } } } // end of namespaces 00037