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 #ifndef CICPCRITERIANRD_MR_H 00011 #define CICPCRITERIANRD_MR_H 00012 00013 #include "mrpt_graphslam_2d/interfaces/CNodeRegistrationDecider_MR.h" 00014 #include <mrpt/graphslam/NRD/CICPCriteriaNRD.h> 00015 00016 namespace mrpt { namespace graphslam { namespace deciders { 00017 00018 template<class GRAPH_T> 00019 class CICPCriteriaNRD_MR : 00020 public virtual CICPCriteriaNRD<GRAPH_T>, 00021 public virtual CNodeRegistrationDecider_MR<GRAPH_T> 00022 { 00023 public: 00024 typedef CNodeRegistrationDecider_MR<GRAPH_T> parent_cm; 00025 typedef CICPCriteriaNRD<GRAPH_T> parent_mrpt; 00026 typedef typename GRAPH_T::global_pose_t global_pose_t; 00027 00028 CICPCriteriaNRD_MR(); 00029 00030 private: 00031 00032 00033 }; 00034 00035 } } } // end of namespaces 00036 00037 #include "CICPCriteriaNRD_MR_impl.h" 00038 00039 #endif /* end of include guard: CICPCRITERIANRD_MR_H */