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what's difference between CObservationPtr and CObservation

Sat, 08/14/2010 - 09:40 — yyfeng88625

Here is my code

CObservationPtr obs = CObservationPtr(it->second);
mrpt::slam::CSimplePointsMap theMap;
theMap.insertionOptions.minDistBetweenLaserPoints = 0;
theMap.insertObservation( obs );

At first ,i want to define the
CObservation obs
but i found class CObservation is abstract type,so I have to use CObservationPtr.

bool mrpt::slam::CMetricMap::insertObservation(const mrpt::slam::CObservation*, const mrpt::poses::CPose3D*)

so how can i converts CObservationPtr to CObservation* ?
Thank you

‹ To reduce Laserscan points landmark correspondence ›
Sun, 08/15/2010 - 16:50 — jlblanco
jlblanco's picture

> so how can i converts

> so how can i converts CObservationPtr to CObservation* ?

All "_name_Ptr" classes are smart pointers to "_name_" classes, implemented with STLplus smart pointers.

To recover the "plain" pointer:

CObservationPtr o;
o.pointer(); // ---> "CObservation*"

JL

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