CEdgeRegistrationDecider_MR_impl.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

namespace mrpt { namespace graphslam { namespace deciders {

template<class GRAPH_T>
CEdgeRegistrationDecider_MR<GRAPH_T>::CEdgeRegistrationDecider_MR() {}

template<class GRAPH_T>
CEdgeRegistrationDecider_MR<GRAPH_T>::~CEdgeRegistrationDecider_MR() {}

template<class GRAPH_T>
void CEdgeRegistrationDecider_MR<GRAPH_T>::addBatchOfNodeIDsAndScans(
                const std::map<
                        TNodeID,
                        mrpt::obs::CObservation2DRangeScan::Ptr>& nodeIDs_to_scans2D) {

        this->m_nodes_to_laser_scans2D.insert(
                        nodeIDs_to_scans2D.begin(),
                        nodeIDs_to_scans2D.end());

        // update the last known number of nodeIDs
        this->m_last_total_num_nodes = this->m_graph->nodeCount();

} // end of addBatchOfNodeIDsAndScans


} } } // end of namespaces