MRPT  2.0.4
CEmptyGSO.h
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1 /* +------------------------------------------------------------------------+
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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. |
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8  +------------------------------------------------------------------------+ */
9 
10 #pragma once
11 
12 #include <mrpt/obs/CObservation.h>
13 #include <mrpt/obs/CSensoryFrame.h>
14 
16 
18 {
19 /**\brief Empty Edge Registration Decider
20  *
21  * Handy when you are testing other parts of the application but not the
22  * specific registration procedure
23  */
24 template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
25 class CEmptyGSO
27 {
28  public:
29  using constraint_t = typename GRAPH_T::constraint_t;
30 
31  CEmptyGSO() = default;
32  ~CEmptyGSO() = default;
33 
36  mrpt::obs::CSensoryFrame::Ptr observations,
37  mrpt::obs::CObservation::Ptr observation)
38  {
39  return true;
40  }
41 
42  private:
44  const mrpt::graphs::TNodeID& from, const mrpt::graphs::TNodeID& to,
45  const constraint_t& rel_edge)
46  {
47  }
48 };
49 } // namespace mrpt::graphslam::optimizers
mrpt::obs::CObservation::Ptr
std::shared_ptr< CObservation > Ptr
Definition: CObservation.h:45
mrpt::obs::CSensoryFrame::Ptr
std::shared_ptr< mrpt::obs ::CSensoryFrame > Ptr
Definition: CSensoryFrame.h:53
mrpt::graphslam::optimizers::CGraphSlamOptimizer
Interface for implementing graphSLAM optimizer classes.
Definition: CGraphSlamOptimizer.h:34
mrpt::graphs::TNodeID
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
Definition: TNodeID.h:16
CGraphSlamOptimizer.h
mrpt::obs::CActionCollection::Ptr
std::shared_ptr< mrpt::obs ::CActionCollection > Ptr
Definition: CActionCollection.h:28
mrpt::graphslam::optimizers::CEmptyGSO::constraint_t
typename GRAPH_T::constraint_t constraint_t
Definition: CEmptyGSO.h:29
mrpt::graphslam::optimizers
Definition: CEmptyGSO.h:17
CSensoryFrame.h
CObservation.h
mrpt::graphslam::optimizers::CEmptyGSO::CEmptyGSO
CEmptyGSO()=default
mrpt::graphslam::optimizers::CEmptyGSO::~CEmptyGSO
~CEmptyGSO()=default
mrpt::graphslam::optimizers::CEmptyGSO::registerNewEdge
void registerNewEdge(const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge)
Definition: CEmptyGSO.h:43
mrpt::graphslam::optimizers::CEmptyGSO
Empty Edge Registration Decider.
Definition: CEmptyGSO.h:25
mrpt::graphslam::optimizers::CEmptyGSO::updateState
bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
Generic method for fetching the incremental action-observations (or observation-only) measurements.
Definition: CEmptyGSO.h:34



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