jafar::slammm::FeaturesCountStartNewMapStrategy Class Reference

This StartNewMapStrategy starts a new map whenever the number of features in the current map is bigger than a given number of features. More...

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Detailed Description

This StartNewMapStrategy starts a new map whenever the number of features in the current map is bigger than a given number of features.

Definition at line 34 of file StartNewMapStrategy.hpp.

#include <StartNewMapStrategy.hpp>

Inheritance diagram for jafar::slammm::FeaturesCountStartNewMapStrategy:

List of all members.

Public Member Functions
	FeaturesCountStartNewMapStrategy (unsigned int _maxFeatures)
virtual bool	startNewMap (const slam::SlamEkf &_currentMap, unsigned int _robotId, unsigned int _newFeaturesCount) const
Private Attributes
unsigned int	m_maxFeatures

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Constructor & Destructor Documentation

jafar::slammm::FeaturesCountStartNewMapStrategy::FeaturesCountStartNewMapStrategy

(

unsigned int

_maxFeatures

)

Parameters:

_maxFeatures

this is the maximal number of features that a local map should contains, in reality the number of features can be bigger, since the test is called after new features have been added to the local map

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Member Function Documentation

virtual bool jafar::slammm::FeaturesCountStartNewMapStrategy::startNewMap	(	const slam::SlamEkf &	_currentMap,
		unsigned int	_robotId,
		unsigned int	_newFeaturesCount
	)		const [virtual]

Parameters:

_currentMap	the current map
_robotId	id of the current robot

Returns:

true if the MultiMapManager should start a new map.

Implements jafar::slammm::StartNewMapStrategy.

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The documentation for this class was generated from the following file:

• modules/slammm/include/slammm/StartNewMapStrategy.hpp