MRPT  2.0.4
CEmptyNRD.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #pragma once
11 
13 #include <mrpt/obs/CSensoryFrame.h>
14 
16 
18 {
19 /**\brief Empty Node Registration Decider
20  *
21  * Handy when you are testing other parts of the application but not the
22  * specific registration procedure
23  *
24  * \ingroup mrpt_graphslam_grp
25  */
26 template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
27 class CEmptyNRD
29 {
30  /**\brief Handy typedefs */
31  /**\{*/
32  using pose_t = typename GRAPH_T::constraint_t::type_value;
33  using global_pose_t = typename GRAPH_T::global_pose_t;
34  /**\}*/
35  public:
36  CEmptyNRD() = default;
37  ~CEmptyNRD() override = default;
38 
41  mrpt::obs::CSensoryFrame::Ptr observations,
42  mrpt::obs::CObservation::Ptr observation) override
43  {
44  return false;
45  }
47  {
48  return typename GRAPH_T::global_pose_t();
49  };
50 
51  private:
52  void registerNewNode(){};
53 };
54 } // namespace mrpt::graphslam::deciders
mrpt::obs::CObservation::Ptr
std::shared_ptr< CObservation > Ptr
Definition: CObservation.h:45
mrpt::graphslam::deciders::CNodeRegistrationDecider
Interface for implementing node registration classes.
Definition: CNodeRegistrationDecider.h:32
mrpt::graphslam::deciders::CEmptyNRD::updateState
bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) override
Generic method for fetching the incremental action-observations (or observation-only) measurements.
Definition: CEmptyNRD.h:39
mrpt::graphslam::deciders::CEmptyNRD::CEmptyNRD
CEmptyNRD()=default
mrpt::obs::CSensoryFrame::Ptr
std::shared_ptr< mrpt::obs ::CSensoryFrame > Ptr
Definition: CSensoryFrame.h:53
mrpt::obs::CActionCollection::Ptr
std::shared_ptr< mrpt::obs ::CActionCollection > Ptr
Definition: CActionCollection.h:28
mrpt::graphslam::deciders::CEmptyNRD::registerNewNode
void registerNewNode()
Definition: CEmptyNRD.h:52
CActionCollection.h
mrpt::graphslam::deciders::CEmptyNRD::~CEmptyNRD
~CEmptyNRD() override=default
mrpt::graphslam::deciders::CEmptyNRD::getCurrentRobotPosEstimation
global_pose_t getCurrentRobotPosEstimation() const override
Definition: CEmptyNRD.h:46
mrpt::graphslam::deciders::CEmptyNRD::global_pose_t
typename GRAPH_T::global_pose_t global_pose_t
Definition: CEmptyNRD.h:33
CNodeRegistrationDecider.h
CSensoryFrame.h
mrpt::graphslam::deciders::CEmptyNRD
Empty Node Registration Decider.
Definition: CEmptyNRD.h:27
mrpt::graphslam::deciders::CEmptyNRD::pose_t
typename GRAPH_T::constraint_t::type_value pose_t
Handy typedefs.
Definition: CEmptyNRD.h:32
mrpt::graphslam::deciders
Definition: CEmptyERD.h:16



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