From 8c539f6cb9d1dd4470778d3654d015af715154b7 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 15 Feb 2021 15:31:05 +0100
Subject: [PATCH] added function match
---
src/loop_closure_falko.cpp | 5 ++++-
src/loop_closure_falko.h | 2 +-
src/match_loop_closure.h | 1 +
3 files changed, 6 insertions(+), 2 deletions(-)
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index ff3c887..af17f23 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 bd3336a..5afcbd0 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 57fb6e8..c4f0205 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;
--
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