Ptr typedef

include/laser_scan_utils/loop_closure_base.h

@@ -40,50 +40,52 @@
 #include "match_loop_closure_scene.h"
 #include "scene_base.h"
 
-namespace laserscanutils {
-
-/** \brief A 2base class for loop closure using falko library
- */
-class LoopClosureBase2d
+namespace laserscanutils
 {
-  private:
-  public:
-    /** \brief Constructor
-     **/
-    LoopClosureBase2d(){};
+    class LoopClosureBase2d;
+    typedef std::shared_ptr<LoopClosureBase2d> LoopClosureBase2dPtr;
+
+    /** \brief A 2base class for loop closure using falko library
+     */
+    class LoopClosureBase2d
+    {
+    public:
+        /** \brief Constructor
+         **/
+        LoopClosureBase2d(){};
 
-    /** \brief Destructor
-     **/
-    virtual ~LoopClosureBase2d(){};
+        /** \brief Destructor
+         **/
+        virtual ~LoopClosureBase2d(){};
 
-    /** \brief update the scene struct with keypoints and descriptors
-     **/
-    virtual sceneBasePtr extractScene(const LaserScan &scan, const LaserScanParams &scanParams) = 0;
+        /** \brief update the scene struct with keypoints and descriptors
+         **/
+        virtual sceneBasePtr extractScene(const LaserScan &scan, const LaserScanParams &scanParams) = 0;
 
-    /** \brief Create and update a matchLoopClosure struct with the info that is
-     *produced when matching two given scenes
-     **/
-    virtual MatchLoopClosureScenePtr matchScene(sceneBasePtr _scene1, sceneBasePtr _scene2) = 0;
+        /** \brief Create and update a matchLoopClosure struct with the info that is
+         *produced when matching two given scenes
+         **/
+        virtual MatchLoopClosureScenePtr matchScene(sceneBasePtr _scene1, sceneBasePtr _scene2) = 0;
 
-    /** \brief It matches a target scene against a list of references scenes in order to find loop
-     * closures
-     **/
-    virtual std::map<double, MatchLoopClosureScenePtr> findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,
-                                                                       const sceneBasePtr                    _new_scene)
-    {
-        std::map<double, MatchLoopClosureScenePtr> matchings;
-        for (auto ref_scene : _l_scenes)
+        /** \brief It matches a target scene against a list of references scenes in order to find loop
+         * closures
+         **/
+        virtual std::map<double, MatchLoopClosureScenePtr> findLoopClosure(std::list<std::shared_ptr<SceneBase>> _l_scenes,
+                                                                           const sceneBasePtr _new_scene)
+        {
+            std::map<double, MatchLoopClosureScenePtr> matchings;
+            for (auto ref_scene : _l_scenes)
             {
                 auto match = matchScene(ref_scene, _new_scene);
-                
-                while (matchings.find(match->score)!=matchings.end())
-                    match->score+=0.001;
+
+                while (matchings.find(match->score) != matchings.end())
+                    match->score += 0.001;
 
                 matchings.emplace(match->score, match);
             }
-        return matchings;
-    }
-};
+            return matchings;
+        }
+    };
 } /* namespace laserscanutils */
 
 #endif /* LOOP_CLOSURE_BASE_2D_H_ */