CNodeRegistrationDecider_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/interfaces/CNodeRegistrationDecider.h>
#include <mrpt/graphs/CNetworkOfPoses.h>

namespace mrpt { namespace graphslam { namespace deciders {

template<class GRAPH_T>
class CNodeRegistrationDecider_MR :
        public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR<GRAPH_T>,
        public virtual CNodeRegistrationDecider<GRAPH_T>
{
public:
        typedef typename GRAPH_T::global_pose_t global_pose_t;

        CNodeRegistrationDecider_MR ();
        ~CNodeRegistrationDecider_MR ();
protected:
        void addNodeAnnotsToPose(global_pose_t* pose) const;
};

} } } // end of namespaces

#include "CNodeRegistrationDecider_MR_impl.h"