passed all functions to loop_closure_falko.h. cpp file empty

src/loop_closure_falko.cpp

@@ -10,6 +10,7 @@
 namespace laserscanutils {
 
 // CONSTRUCTOR
+/*
 template <typename D, typename Extr, typename M>
 loopClosureFalko<D, Extr, M>::loopClosureFalko(int _circularSectorNumber,
                                                int _radialRingNumber)
@@ -27,11 +28,14 @@ loopClosureFalko<D, Extr, M>::loopClosureFalko(int _circularSectorNumber,
   // Matcher Extractor Parameters
   matcher_.setDistanceThreshold(0.1);
 }
+*/
 /*
     // DESTRUCTOR
     template <typename D,typename Extr, typename M>
     loopClosureFalko<D,Extr,M>::~loopClosureFalko(){}
 */
+
+/*
 template <typename D, typename Extr, typename M>
 std::shared_ptr<falkolib::LaserScan>
 loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
@@ -43,6 +47,7 @@ loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
   ((*scanFALKO).fromRanges)(doubleRanges);
   return scanFALKO;
 }
+*/
 /*
     template <typename D,typename Extr, typename M>
     typename loopClosureFalko<D,Extr, M>::sceneFalkoBSCPtr
@@ -86,5 +91,5 @@ loopClosureFalko<D, Extr, M>::convert2LaserScanFALKO(
 // newScene){}
 
 // Explicitly compile all the templates
-template class loopClosureFalko<bsc, bscExtractor, NNMatcher>;
+//template class loopClosureFalko<bsc, bscExtractor, NNMatcher>;
 }

src/loop_closure_falko.h

@@ -42,6 +42,10 @@ typedef falkolib::BSC bsc;
 typedef falkolib::BSCExtractor<falkolib::FALKO> bscExtractor;
 typedef falkolib::NNMatcher<falkolib::FALKO> NNMatcher;
 
+typedef falkolib::CGH cgh;
+typedef falkolib::CGHExtractor<falkolib::FALKO> cghExtractor;
+typedef falkolib::AHTMatcher<falkolib::FALKO> AHTatcher;
+
 /** \brief A base class for loop closure using falko library
 **/
 
@@ -52,13 +56,28 @@ private:
 public:
   typedef std::shared_ptr<sceneFalko<D>> sceneFalkoBSCPtr;
   typedef std::shared_ptr<matchLoopClosure<D>> matchLoopClosurePtr;
+  typedef std::shared_ptr<falkolib::LaserScan> laserScanPtr;
 
   Extr extractor_;
   M matcher_;
 
   /** \brief Constructor
   **/
-  loopClosureFalko(int _circularSectorNumber = 16, int _radialRingNumber = 8);
+  loopClosureFalko(int _circularSectorNumber = 16, int _radialRingNumber = 8)
+  : loopClosureBase2d(), falkolib::FALKOExtractor(),
+    extractor_(_circularSectorNumber, _radialRingNumber), matcher_() {
+  // FALKO Extractor Parameters
+  setMinExtractionRange(0.1);
+  setMaxExtractionRange(25);
+  enableSubbeam(true);
+  setNMSRadius(0.1);
+  setNeighB(0.01);
+  setBRatio(4);
+  setGridSectors(16);
+
+  // Matcher Extractor Parameters
+  matcher_.setDistanceThreshold(0.1);
+};
 
   /** \brief Destructor
   **/
@@ -81,8 +100,14 @@ public:
   /** \brief Convert scans from laserscanutils::LaserScan to
     *falkolib::LaserScan object
    **/
-  std::shared_ptr<falkolib::LaserScan>
-  convert2LaserScanFALKO(LaserScan &scan, LaserScanParams &scanParams);
+ laserScanPtr 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());
+  ((*scanFALKO).fromRanges)(doubleRanges);
+  return scanFALKO;
+};
 
   /** \brief Create and update a matchLoopClosure struct with the info that is
     *produced when matching two given scenes

src/match_loop_closure.h

@@ -21,8 +21,6 @@
 namespace laserscanutils {
 
 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>>>