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Odometry: changed isF2M() and isF2F() by getType() (following pull request https://github.com/introlab/rtabmap/pull/102)

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This commit is contained in:
matlabbe
2016-08-01 15:26:35 -04:00
parent c0cc57d1d8
commit c25c1db3da
4 changed files with 5 additions and 6 deletions
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5
corelib/include/rtabmap/core/Odometry.h
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@@ -44,7 +44,7 @@ class RTABMAP_EXP Odometry
public: public:
enum Type { enum Type {
kTypeUndef = -1, kTypeUndef = -1,
kTypeLocalMap = 0, kTypeF2M = 0,
kTypeF2F = 1 kTypeF2F = 1
}; };
@@ -57,8 +57,7 @@ public:
Transform process(SensorData & data, OdometryInfo * info = 0); Transform process(SensorData & data, OdometryInfo * info = 0);
Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0); Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0);
virtual void reset(const Transform & initialPose = Transform::getIdentity()); virtual void reset(const Transform & initialPose = Transform::getIdentity());
virtual bool isF2F(){return false;} virtual Odometry::Type getType() = 0;
virtual bool isF2M(){return false;}
//getters //getters
const Transform & getPose() const {return _pose;} const Transform & getPose() const {return _pose;}

2
corelib/include/rtabmap/core/OdometryF2F.h
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@@ -45,7 +45,7 @@ public:
const Signature & getRefFrame() const {return refFrame_;} const Signature & getRefFrame() const {return refFrame_;}
bool isF2F(){return true;}; virtual Odometry::Type getType() {return Odometry::kTypeF2F;}
private: private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0); virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);

2
corelib/include/rtabmap/core/OdometryF2M.h
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@@ -48,7 +48,7 @@ public:
const Signature & getMap() const {return *map_;} const Signature & getMap() const {return *map_;}
const Signature & getLastFrame() const {return *lastFrame_;} const Signature & getLastFrame() const {return *lastFrame_;}
bool isF2M(){return true;} virtual Odometry::Type getType() {return Odometry::kTypeF2M;}
private: private:
virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0); virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);

2
corelib/src/Odometry.cpp
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@@ -61,7 +61,7 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
break; break;
default: default:
odometry = new OdometryF2M(parameters); odometry = new OdometryF2M(parameters);
type = Odometry::kTypeLocalMap; type = Odometry::kTypeF2M;
break; break;
} }
return odometry; return odometry;