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46 template <
class GRAPH_T>
53 using pose_t =
typename GRAPH_T::constraint_t::type_value;
77 virtual void loadParams(
const std::string& source_fname);
93 const std::string& section);
Interface for implementing node registration classes.
virtual ~CIncrementalNodeRegistrationDecider()=default
typename GRAPH_T::constraint_t constraint_t
virtual void printParams() const
Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact w...
mrpt::vision::TStereoCalibResults out
typename GRAPH_T::global_pose_t global_pose_t
virtual bool checkRegistrationCondition()
If estimated position surpasses the registration max values since the previous registered node,...
double registration_max_distance
virtual void getDescriptiveReport(std::string *report_str) const
Fill the provided string with a detailed report of the decider/optimizer state.
double registration_max_angle
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion)
This method load the options from a ".ini"-like file or memory-stored string list.
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Incremental Node registration decider.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
Parameters structure for managing the relevant to the decider variables in a compact manner.
std::string getAsString() const
typename GRAPH_T::constraint_t::type_value pose_t
virtual bool checkRegistrationConditionPose(const mrpt::poses::CPose2D &p1, const mrpt::poses::CPose2D &p2) const
void dumpToTextStream(std::ostream &out) const
This method should clearly display all the contents of the structure in textual form,...
virtual void loadParams(const std::string &source_fname)
Load the necessary for the decider/optimizer configuration parameters.
CIncrementalNodeRegistrationDecider()=default
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