Resolve "New ProcessorLoopClosure"

Closes #398 (closed)

include/core/processor/processor_loop_closure.h

@@ -10,11 +10,20 @@ WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorLoopClosure);
 
 struct ParamsProcessorLoopClosure : public ParamsProcessorBase
 {
-    using ParamsProcessorBase::ParamsProcessorBase;
-    //  virtual ~ParamsProcessorLoopClosure() = default;
-
-    // add neccesery parameters for loop closure initialisation here and initialize
-    // them in constructor
+    int max_loops=-1;
+
+    ParamsProcessorLoopClosure() = default;
+    ParamsProcessorLoopClosure(std::string _unique_name, const ParamsServer& _server):
+        ParamsProcessorBase(_unique_name, _server)
+    {
+        max_loops = _server.getParam<int>(prefix + _unique_name + "/max_loops");
+    }
+
+    std::string print() const override
+    {
+        return "\n" + ParamsProcessorBase::print()
+            + "max_loops: " + std::to_string(max_loops) + "\n";
+    }
 };
     
 WOLF_STRUCT_PTR_TYPEDEFS(MatchLoopClosure);
@@ -74,7 +83,7 @@ protected:
 
     /** \brief Find captures that correspond to loop closures with the given capture
      */
-    virtual std::list<MatchLoopClosurePtr> findLoopClosures(CaptureBasePtr _capture) = 0;
+    virtual std::map<double,MatchLoopClosurePtr> findLoopClosures(CaptureBasePtr _capture) = 0;
 
     /** \brief validates a loop closure
      */