CNodeRegistrationDecider_MR_impl.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #pragma once
11 
12 namespace mrpt { namespace graphslam { namespace deciders {
13 
14 template<class GRAPH_T>
16 
17 template<class GRAPH_T>
19 
20 template<class GRAPH_T>
22  global_pose_t* pose) const { }
23 
24 template<>
26  global_pose_t* pose) const {
27  ASSERT_(pose);
28 
29  pose->agent_ID_str = this->own_ns;
30  // ASSUMPTION: addNodeAnnotsToPose is going to be called right before the
31  // actual registration.
32  // Mark it with the nodeID that is up-next
33  pose->nodeID_loc = this->m_graph->nodeCount();
34 }
35 
36 } } } // end of namespaces
37 
void addNodeAnnotsToPose(global_pose_t *pose) const
Decorate a pose according to the TMRSlamNodeAnnotation fields.
#define ASSERT_(f)


mrpt_graphslam_2d
Author(s): Nikos Koukis
autogenerated on Sat May 2 2020 03:44:17