Point Cloud Library (PCL)  1.11.0
graph_optimizer.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/graph_handler.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
49  /** \brief @b GraphOptimizer class; derive and specialize for each graph type
50  * \author Nicola Fioraio
51  * \ingroup registration
52  */
53  template <typename GraphT>
55  {
56  public:
57  /** \brief Optimize the given graph
58  * \param inout_graph the graph
59  * \return false if the optimization has not been performed
60  */
61  virtual inline bool
62  optimize(GraphHandler<GraphT>& inout_graph) = 0;
63 
64  /** \brief Empty destructor */
65  virtual ~GraphOptimizer () {}
66  };
67  }
68 }
pcl
Definition: convolution.h:46
pcl::registration::GraphOptimizer
GraphOptimizer class; derive and specialize for each graph type
Definition: graph_optimizer.h:55
pcl::registration::GraphHandler
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the foll...
Definition: graph_handler.h:82
pcl::registration::GraphOptimizer::~GraphOptimizer
virtual ~GraphOptimizer()
Empty destructor.
Definition: graph_optimizer.h:65
pcl::registration::GraphOptimizer::optimize
virtual bool optimize(GraphHandler< GraphT > &inout_graph)=0
Optimize the given graph.