CEdgeRegistrationDecider_MR.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

#include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_MR.h"
#include "mrpt_graphslam_2d/CConnectionManager.h"
#include <mrpt/graphslam/interfaces/CRangeScanEdgeRegistrationDecider.h>

#include <string>

#if MRPT_VERSION>=0x199
#include <mrpt/graphs/TNodeID.h>
using namespace mrpt::graphs;
#else
using namespace mrpt::utils;
#endif

namespace mrpt { namespace graphslam { namespace deciders {

template<class GRAPH_T>
class CEdgeRegistrationDecider_MR :
        public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR<GRAPH_T>,
        public virtual mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider<GRAPH_T>
{
public:
        CEdgeRegistrationDecider_MR ();
        ~CEdgeRegistrationDecider_MR ();
        virtual void addBatchOfNodeIDsAndScans(
                        const std::map<
                                TNodeID,
                                mrpt::obs::CObservation2DRangeScan::Ptr>& nodeIDs_to_scans2D);

protected:
};

} } } // end of namespaces

#include "CEdgeRegistrationDecider_MR_impl.h"