Point Cloud Library (PCL)  1.7.2
graph_optimizer.h
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40 
41 #ifndef PCL_GRAPH_OPTIMIZER_H_
42 #define PCL_GRAPH_OPTIMIZER_H_
43 
44 #include <pcl/registration/graph_handler.h>
45 
46 namespace pcl
47 {
48  namespace registration
49  {
50  /** \brief @b GraphOptimizer class; derive and specialize for each graph type
51  * \author Nicola Fioraio
52  * \ingroup registration
53  */
54  template <typename GraphT>
56  {
57  public:
58  /** \brief Optimize the given graph
59  * \param inout_graph the graph
60  * \return false if the optimization has not been performed
61  */
62  virtual inline bool
63  optimize(GraphHandler<GraphT>& inout_graph) = 0;
64 
65  /** \brief Empty destructor */
66  virtual ~GraphOptimizer () {}
67  };
68  }
69 }
70 
71 #endif // PCL_GRAPH_OPTIMIZER_H_
virtual ~GraphOptimizer()
Empty destructor.
virtual bool optimize(GraphHandler< GraphT > &inout_graph)=0
Optimize the given graph.
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the follo...
Definition: graph_handler.h:82
GraphOptimizer class; derive and specialize for each graph type