10 #ifndef TUSEROPTIONSCHECKER_H 11 #define TUSEROPTIONSCHECKER_H 32 namespace mrpt {
namespace graphslam {
namespace apps {
41 is_mr_slam_class(false),
105 template<
class GRAPH_t>
112 typedef typename GRAPH_t::constraint_t::type_value
pose_t;
140 virtual void createDeciderOptimizerMappings();
141 virtual void _createDeciderOptimizerMappings();
145 virtual void populateDeciderOptimizerProperties();
152 virtual bool checkRegistrationDeciderExists(
153 std::string given_reg,
154 std::string reg_type)
const;
159 virtual bool checkOptimizerExists(
160 std::string given_opt)
const;
168 virtual void dumpRegistrarsToConsole(std::string reg_type=
"all")
const;
172 virtual void dumpOptimizersToConsole()
const;
Class containing the declarations of supplementary methods that can be used in application-related co...
GRAPH_t::constraint_t constraint_t
optimizers_t optimizers_map
edge_regs_t edge_regs_map
node_regs_t node_regs_map
Properties struct for the Registration Decider classes.
std::vector< std::string > observations_used
Measurements that the current decider class can utilize.
bool is_mr_slam_class
Class indicating if the current decider/optimizer class can be used in a multi-robot SLAM operation...
~TRegistrationDeciderOrOptimizerProps()
TRegistrationDeciderProps()
~TRegistrationDeciderProps()
std::map< std::string, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T > *(*)()> edge_regs_t
std::string type
Type of decider.
std::map< std::string, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > *(*)()> node_regs_t
static mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > * createEdgeRegistrationDecider()
static mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > * createGraphSlamOptimizer()
std::string description
General description of the decicder or optimizer class.
const std::string sep_header
static mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > * createNodeRegistrationDecider()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Interface for implementing graphSLAM optimizer classes.
Properties struct for both the Registration Decider and Optimizer classes.
GRAPH_t::constraint_t::type_value pose_t
std::string name
Name of the decider or optimizer class.
Properties struct for the Optimizer classes.
std::map< std::string, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_T > *(*)()> optimizers_t
std::string rawlog_format
Rawlog formats that the decider can be used in.
std::vector< TOptimizerProps * > optimizers_descriptions
std::vector< TRegistrationDeciderProps * > regs_descriptions
const std::string sep_subheader
TRegistrationDeciderOrOptimizerProps()