From 837e56b72065b532295383d1f0fde29941458a4c Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Tue, 9 Feb 2021 14:21:45 +0100
Subject: [PATCH] class loopClosureBase2d created
---
src/corner_falko_2d.h | 12 +-----------
src/loop_closure_base_2d.cpp | 0
src/loop_closure_base_2d.h | 34 ++++++++++++++++++++++++++++++++++
3 files changed, 35 insertions(+), 11 deletions(-)
create mode 100644 src/loop_closure_base_2d.cpp
create mode 100644 src/loop_closure_base_2d.h
diff --git a/src/corner_falko_2d.h b/src/corner_falko_2d.h
index 3c35597..746e4e1 100644
--- a/src/corner_falko_2d.h
+++ b/src/corner_falko_2d.h
@@ -40,11 +40,7 @@ namespace laserscanutils
{
/** \brief A 2D corner extractor and loop closure computing class
- *
- *
- *
- *
- */
+**/
class CornerFalko2d: public falkolib::FALKOExtractor, public falkolib::BSCExtractor<falkolib::FALKO>, public falkolib::NNMatcher<falkolib::FALKO>
{
@@ -64,15 +60,9 @@ public:
CornerFalko2d(int _circularSectorNumber=16, int _radialRingNumber=8, bool _useKeypointRadius = true, double _radius = 0.1) ;
/** \brief Destructor
- *
- * Destructor
- *
**/
~CornerFalko2d();
- /** \brief Extract landmark/scene (list of corners) from a given 2D scan
- **/
-
/** \brief compare new scans against the training set in order to find loop closures
**/
void findLoopClosure(LaserScan scan,LaserScanParams scanParams);
diff --git a/src/loop_closure_base_2d.cpp b/src/loop_closure_base_2d.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base_2d.h
new file mode 100644
index 0000000..0c36cf1
--- /dev/null
+++ b/src/loop_closure_base_2d.h
@@ -0,0 +1,34 @@
+/**
+ * \file loop_closure_base_2d.h
+ *
+ * Created on: Feb 9, 2021
+ * \author: spujol
+ */
+
+#ifndef LOOP_CLOSURE_BASE_2D_H_
+#define LOOP_CLOSURE_BASE_2D_H_
+
+#include <iostream>
+#include <fstream>
+
+namespace laserscanutils
+{
+ /** \brief A 2base class for loop closure using falko library
+*/
+class loopClosureBase2d{
+private:
+
+public:
+ /** \brief Constructor
+ **/
+
+ loopClosureBase2d();
+
+ /** \brief Destructor
+ **/
+ ~loopClosureBase2d();
+
+};
+} /* namespace laserscanutils */
+
+#endif /* LANDMARK_POLYLINE_2d_H_ */
\ No newline at end of file
--
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