CLoopCloserERD_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/CEdgeRegistrationDecider_MR.h"
#include <mrpt/ros1bridge/laser_scan.h>
#include <mrpt/graphslam/ERD/CLoopCloserERD.h>
#include <mrpt_msgs/NodeIDWithLaserScan.h>

namespace mrpt
{
namespace graphslam
{
namespace deciders
{
template <class GRAPH_T>
class CLoopCloserERD_MR : public virtual CLoopCloserERD<GRAPH_T>,
                                                  public virtual CEdgeRegistrationDecider_MR<GRAPH_T>
{
   public:
        typedef CLoopCloserERD<GRAPH_T> lc_parent_t; 
        typedef CEdgeRegistrationDecider_MR<GRAPH_T>
                mr_parent_t; 
        typedef CLoopCloserERD_MR<GRAPH_T> decider_t; 
        typedef typename lc_parent_t::constraint_t constraint_t;
        typedef typename lc_parent_t::pose_t pose_t;
        typedef typename lc_parent_t::range_ops_t range_ops_t;
        typedef typename lc_parent_t::partitions_t partitions_t;
        typedef typename lc_parent_t::nodes_to_scans2D_t nodes_to_scans2D_t;
        typedef mrpt::graphslam::CGraphSlamEngine_MR<GRAPH_T> engine_t;
        typedef typename GRAPH_T::global_pose_t global_pose_t;
        CLoopCloserERD_MR();

        // member implementations
        bool updateState(
                mrpt::obs::CActionCollection::Ptr action,
                mrpt::obs::CSensoryFrame::Ptr observations,
                mrpt::obs::CObservation::Ptr observation);
        void addBatchOfNodeIDsAndScans(
                const std::map<TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr>&
                        nodeIDs_to_scans2D);
        void addScanMatchingEdges(TNodeID curr_nodeID);
        void fetchNodeIDsForScanMatching(
                const TNodeID& curr_nodeID, std::set<TNodeID>* nodes_set);

   protected:
};

}  // namespace deciders
}  // namespace graphslam
}  // namespace mrpt

#include "CLoopCloserERD_MR_impl.h"