diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp index ff3c8878f488fe2c6970c457f0a9d5c815fdc24c..af17f231c47ee87beafe6b6db05dc1d6aa28a7b3 100644 --- a/src/loop_closure_falko.cpp +++ b/src/loop_closure_falko.cpp @@ -31,7 +31,6 @@ namespace laserscanutils{ } - // DESTRUCTOR template <typename D,typename Extr, typename M> loopClosureFalko<D,Extr,M>::~loopClosureFalko(){} @@ -56,6 +55,10 @@ namespace laserscanutils{ return newScene; } + template <typename D,typename Extr, typename M> + typename loopClosureFalko<D,Extr, M>::matchLoopClosurePtr matchScene(std::shared_ptr<sceneFalko<D>> scene1,LaserScanParams &scanParams){ + + } //void findLoopClosure(std::list<sceneFalko>& scenes, const cornerScene newScene){} diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h index bd3336a5e62e49d980d13c2e0c6b498133cdfd11..5afcbd0e0430e8a4390eb19c570315acf3389d1b 100644 --- a/src/loop_closure_falko.h +++ b/src/loop_closure_falko.h @@ -79,7 +79,7 @@ public: /** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object **/ - matchLoopClosurePtr matchScene(LaserScan &scan,LaserScanParams &scanParams); + matchLoopClosurePtr matchScene(sceneFalkoBSCPtr scene1 ,LaserScanParams &scanParams); }; diff --git a/src/match_loop_closure.h b/src/match_loop_closure.h index 57fb6e87ae34a54f0e621f764689d3b8c6c04543..c4f020549ccca7cbe2cdbfd7cfaa7a574a663a6c 100644 --- a/src/match_loop_closure.h +++ b/src/match_loop_closure.h @@ -24,6 +24,7 @@ template <typename D> struct matchLoopClosure{ //std::shared_ptr<sceneFalko<D>> scene1; //std::shared_ptr<sceneFalko<D>> scene2; + // tuple that stores the pointers of two matched scenes std::tuple<std::shared_ptr<sceneFalko<D>>, std::shared_ptr<sceneFalko<D>>> sceneTuple; bool match;