CEdgeRegistrationDecider_MR.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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_2d/CConnectionManager.h"
#include <mrpt/graphslam/interfaces/CRangeScanEdgeRegistrationDecider.h>
#include <string>
#include <mrpt/graphs/TNodeID.h>
 
using namespace mrpt::graphs;
 
namespace mrpt
{
namespace graphslam
{
namespace deciders
{
template <class GRAPH_T>
class CEdgeRegistrationDecider_MR
        : public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR<
                  GRAPH_T>,
          public virtual mrpt::graphslam::deciders::
                  CRangeScanEdgeRegistrationDecider<GRAPH_T>
{
   public:
        CEdgeRegistrationDecider_MR();
        ~CEdgeRegistrationDecider_MR();
        virtual void addBatchOfNodeIDsAndScans(
                const std::map<TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr>&
                        nodeIDs_to_scans2D);
 
   protected:
};
 
}  // namespace deciders
}  // namespace graphslam
}  // namespace mrpt
 
#include "CEdgeRegistrationDecider_MR_impl.h"