TUserOptionsChecker_ROS_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 #pragma once
10 
11 namespace mrpt { namespace graphslam { namespace apps {
12 
13 template<class GRAPH_T>
15 }
16 
17 template<class GRAPH_T>
19 }
20 
21 template<class GRAPH_T>
24  using namespace std;
25  using namespace mrpt::graphs;
26  using namespace mrpt::graphslam::apps;
27  using namespace mrpt::graphslam::deciders;
28  parent::createDeciderOptimizerMappings();
29 
30  // node registration deciders
31  this->node_regs_map["CICPCriteriaNRD_MR"] =
32  parent::template createNodeRegistrationDecider<CICPCriteriaNRD_MR<GRAPH_T>>;
33  this->node_regs_map["CFixedIntervalsNRD_MR"] =
34  parent::template createNodeRegistrationDecider<CFixedIntervalsNRD_MR<GRAPH_T>>;
35 
36  // edge registration deciders
37  this->edge_regs_map["CLoopCloserERD_MR"] =
38  parent::template createEdgeRegistrationDecider<CLoopCloserERD_MR<GRAPH_T>>;
39 
40  // optimizers
41 
42 } // end of createDeciderOptimizerMappings
43 
44 template<class GRAPH_T>
46  using namespace mrpt::graphslam::apps;
47  using namespace std;
48 
49  parent::populateDeciderOptimizerProperties();
50  { // CICPCriteriaNRD_MR
51  TRegistrationDeciderProps* dec = new TRegistrationDeciderProps;
52  dec->name = "CICPCriteriaNRD_MR";
53  dec->description =
54  "Multi-robot SLAM implementation of the CICPCriteriaNRD class based on \"Condensed Measurements\"";
55  dec->type = "Node";
56  dec->rawlog_format = "Both";
57  dec->observations_used.push_back("CObservation2DRangeScan - Format #1, #2");
58  dec->is_mr_slam_class = "true";
59 
60  this->regs_descriptions.push_back(dec);
61  }
62  { // CFixedIntervalsNRD_MR
63  TRegistrationDeciderProps* dec = new TRegistrationDeciderProps;
64  dec->name = "CFixedIntervalsNRD_MR";
65  dec->description =
66  "Multi-robot SLAM implementation of the CFixedIntervalsNRD class based on \"Condensed Measurements\"";
67  dec->type = "Node";
68  dec->rawlog_format = "Both";
69  dec->observations_used.push_back("CObservation2DRangeScan - Format #1, #2");
70  dec->is_mr_slam_class = "true";
71 
72  this->regs_descriptions.push_back(dec);
73  }
74 
75  { // CLoopCloserERD_MR
76  TRegistrationDeciderProps* dec = new TRegistrationDeciderProps;
77  dec->name = "CLoopCloserERD_MR";
78  dec->description =
79  "Multi-robot SLAM implementation of the CLoopCloserERD class based on \"Condensed Measurements\"";
80  dec->type = "Edge";
81  dec->rawlog_format = "Both";
82  dec->observations_used.push_back("CObservation2DRangeScan - Format #1, #2");
83  dec->is_mr_slam_class = "true";
84 
85  this->regs_descriptions.push_back(dec);
86  }
87 
88 }
89 
90 } } } //end namespaces
91 
void createDeciderOptimizerMappings()
Create deciders, optimizers specific to the ROS case.


mrpt_graphslam_2d
Author(s): Nikos Koukis
autogenerated on Thu Jun 6 2019 19:37:48