i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

added the type virtual function to avoid dynamic cast

Browse Source
This commit is contained in:
Di Zeng
2016-07-28 11:59:24 -07:00
parent 9d09c509ab
commit 33dab87765
3 changed files with 6 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/Odometry.h
View File

@@ -57,6 +57,8 @@ public:
Transform process(SensorData & data, OdometryInfo * info = 0);
Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0);
virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual bool isF2F(){return false;}
virtual bool isF2M(){return false;}
//getters
const Transform & getPose() const {return _pose;}

2
corelib/include/rtabmap/core/OdometryF2F.h
View File

@@ -45,6 +45,8 @@ public:
const Signature & getRefFrame() const {return refFrame_;}
bool isF2F(){return true;};
private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);

2
corelib/include/rtabmap/core/OdometryF2M.h
View File

@@ -48,6 +48,8 @@ public:
const Signature & getMap() const {return *map_;}
const Signature & getLastFrame() const {return *lastFrame_;}
bool isF2M(){return true;}
private:
virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);