Node Registration Decider Interface Class. More...
#include <CNodeRegistrationDecider_MR.h>
Public Types | |
typedef GRAPH_T::global_pose_t | global_pose_t |
Public Types inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR< GRAPH_T > | |
typedef CGraphSlamEngine_MR< GRAPH_T > | engine_t |
Public Types inherited from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > | |
typedef GRAPH_T::constraint_t | constraint_t |
typedef GRAPH_T::constraint_t | constraint_t |
typedef GRAPH_T::global_pose_t | global_pose_t |
typedef GRAPH_T::global_pose_t | global_pose_t |
typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length > | inf_mat_t |
typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length > | inf_mat_t |
typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T > | parent_t |
typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T > | parent_t |
typedef GRAPH_T::constraint_t::type_value | pose_t |
typedef GRAPH_T::constraint_t::type_value | pose_t |
Protected Member Functions | |
template<> | |
void | addNodeAnnotsToPose (global_pose_t *pose) const |
void | addNodeAnnotsToPose (global_pose_t *pose) const |
Decorate a pose according to the TMRSlamNodeAnnotation fields. More... | |
Protected Member Functions inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T > | |
virtual void | assertVisualsVars () |
Protected Member Functions inherited from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > | |
virtual bool | checkRegistrationCondition () |
bool | registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint) |
bool | registerNewNodeAtEnd () |
bool | registerNewNodeAtEnd () |
bool | registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint) |
void | resetPDF (constraint_t *c) |
Node Registration Decider Interface Class.
Node Registration Decider classes that are to be used in a multi-robot SLAM scheme according to the Condensed Measurements multi-robot strategy by M.T. Lazaro et al. [1] are to inherit from this method.
[1] Multi-robot SLAM using Condensed Measurements - M.T. Lazaro, L.M. Paz, P. Pinies, J.A. Castellanos, G. Grisetti
Definition at line 35 of file CNodeRegistrationDecider_MR.h.
typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >::global_pose_t |
Definition at line 40 of file CNodeRegistrationDecider_MR.h.
mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >::CNodeRegistrationDecider_MR | ( | ) |
Definition at line 15 of file CNodeRegistrationDecider_MR_impl.h.
mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >::~CNodeRegistrationDecider_MR | ( | ) |
Definition at line 18 of file CNodeRegistrationDecider_MR_impl.h.
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protectedvirtual |
Reimplemented from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.
Definition at line 25 of file CNodeRegistrationDecider_MR_impl.h.
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protectedvirtual |
Decorate a pose according to the TMRSlamNodeAnnotation fields.
Reimplemented from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.
Definition at line 21 of file CNodeRegistrationDecider_MR_impl.h.