added virtual function in loop_closure_base

src/loop_closure_base_2d.cpp

@@ -11,14 +11,14 @@ namespace laserscanutils{
 
     loopClosureBase2d::loopClosureBase2d(){}
     loopClosureBase2d::~loopClosureBase2d(){}
-
+/*
     std::shared_ptr<cornerScene> loopClosureBase2d::extractScene(LaserScan &scan,LaserScanParams &scanParams){
-        
-        std::shared_ptr<cornerScene> NewScene;
+
+        auto NewScene=std::make_shared<cornerScene>();
 
         return NewScene;
     }
-
+*/
     std::shared_ptr<falkolib::LaserScan> loopClosureBase2d::convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams){
         auto scanFALKO=std::make_shared<falkolib::LaserScan>(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
         std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
@@ -26,4 +26,7 @@ namespace laserscanutils{
         return scanFALKO;
     }
 
+    //void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
+
+
 }

src/loop_closure_base_2d.h

@@ -51,11 +51,11 @@ public:
 
     /** \brief compare new scans against the trained set in order to find loop closures
      **/
-    //virtual void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene);
+    virtual void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
 
     /** \brief update the scene struct with keypoints and descriptors
      **/
-    virtual std::shared_ptr<cornerScene> extractScene(LaserScan &scan,LaserScanParams &scanParams);
+    virtual std::shared_ptr<cornerScene> extractScene(LaserScan &scan,LaserScanParams &scanParams){}
 
     /** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
      **/