slam_context.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#include "slam_context.h"
 
#include <iostream>
 
#include "commands.h"
using namespace std;
 
namespace SlamParser {
 
SlamContext::SlamContext() {}
 
SlamContext::~SlamContext() {}
 
bool SlamContext::process(CommandNode* commandNode) {
  cerr << "SlamContext::process -> ";
  switch (commandNode->commandType()) {
    case CT_ADD_NODE:
      cerr << "ADD NODE" << endl;
      break;
    case CT_ADD_EDGE:
      cerr << "ADD EDGE" << endl;
      break;
    case CT_SOLVE_STATE:
      cerr << "SOLVE STATE" << endl;
      break;
    case CT_QUERY_STATE:
      cerr << "QUERY STATE" << endl;
      break;
    case CT_FIX:
      cerr << "FIX NODE" << endl;
      break;
  }
  return true;
}
 
}  // namespace SlamParser