00001 /* +---------------------------------------------------------------------------+ 00002 | Mobile Robot Programming Toolkit (MRPT) | 00003 | http://www.mrpt.org/ | 00004 | | 00005 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file | 00006 | See: http://www.mrpt.org/Authors - All rights reserved. | 00007 | Released under BSD License. See details in http://www.mrpt.org/License | 00008 +---------------------------------------------------------------------------+ */ 00009 00010 #pragma once 00011 00012 #include "mrpt_graphslam_2d/interfaces/CRegistrationDeciderOrOptimizer_MR.h" 00013 #include <mrpt/graphslam/interfaces/CNodeRegistrationDecider.h> 00014 #include <mrpt/graphs/CNetworkOfPoses.h> 00015 00016 namespace mrpt { namespace graphslam { namespace deciders { 00017 00034 template<class GRAPH_T> 00035 class CNodeRegistrationDecider_MR : 00036 public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR<GRAPH_T>, 00037 public virtual CNodeRegistrationDecider<GRAPH_T> 00038 { 00039 public: 00040 typedef typename GRAPH_T::global_pose_t global_pose_t; 00041 00042 CNodeRegistrationDecider_MR (); 00043 ~CNodeRegistrationDecider_MR (); 00044 protected: 00051 void addNodeAnnotsToPose(global_pose_t* pose) const; 00052 }; 00053 00054 } } } // end of namespaces 00055 00056 #include "CNodeRegistrationDecider_MR_impl.h"