example_slam_interface.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
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//
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#ifndef EXAMPLE_SLAM_INTERFACE_H
#define EXAMPLE_SLAM_INTERFACE_H
 
#include <map>
#include <vector>
 
#include "slam_parser/interface/abstract_slam_interface.h"
 
class ExampleSlamInterface : public SlamParser::AbstractSlamInterface {
 public:
  ExampleSlamInterface();
 
  bool addNode(const std::string& tag, int id, int dimension,
               const std::vector<double>& values);
 
  bool addEdge(const std::string& tag, int id, int dimension, int v1, int v2,
               const std::vector<double>& measurement,
               const std::vector<double>& information);
 
  bool fixNode(const std::vector<int>& nodes);
 
  bool queryState(const std::vector<int>& nodes);
 
  bool solveState();
 
 protected:
  /* add variables to control the SLAM algorithm or for other general
   * requirements */
  std::map<int, std::pair<std::string, std::vector<double> > >
      _vertices;  
};
 
#endif