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35 template <
class GRAPH_T =
typename mrpt::graphs::CNetworkOfPoses2DInf>
47 using pose_t =
typename GRAPH_T::constraint_t::type_value;
56 std::map<std::string, int>* edge_type_to_num)
const {};
77 const std::set<mrpt::graphs::TNodeID>&)
typename typename mrpt::graphs::CNetworkOfPoses2DInf ::constraint_t::type_value pose_t
type of underlying poses (2D/3D).
Interface for implementing edge registration classes.
Interface for implementing node/edge registration deciders or optimizer classes.
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
void getDescriptiveReport(std::string *report_str) const override
Fill the provided string with a detailed report of the decider/optimizer state.
typename typename mrpt::graphs::CNetworkOfPoses2DInf ::constraint_t constraint_t
type of graph constraints
CEdgeRegistrationDecider()=default
virtual void checkRegistrationCondition(const std::set< mrpt::graphs::TNodeID > &)
virtual void registerNewEdge(const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge)
Register a new constraint/edge in the current graph.
virtual void getEdgesStats(std::map< std::string, int > *edge_type_to_num) const
Fill the given map with the type of registered edges as well as the corresponding number of registrat...
virtual bool justInsertedLoopClosure() const
Used by the caller to query for possible loop closures in the last edge registration procedure.
bool m_override_registered_nodes_check
Indicates whether the ERD implementation expects, at most one single node to be registered,...
~CEdgeRegistrationDecider() override=default
virtual void checkRegistrationCondition(mrpt::graphs::TNodeID from, mrpt::graphs::TNodeID to)
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