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mrpt::slam::CMetricMapsAlignmentAlgorithm Class Referenceabstract

Detailed Description

A base class for any algorithm able of maps alignment.

There are two methods depending on an PDF or a single 2D Pose value is available as initial guess for the methods.

See also
CPointsMap, utils::CDebugOutputCapable

Definition at line 32 of file CMetricMapsAlignmentAlgorithm.h.

#include <mrpt/slam/CMetricMapsAlignmentAlgorithm.h>

Inheritance diagram for mrpt::slam::CMetricMapsAlignmentAlgorithm:
Inheritance graph
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Public Member Functions

virtual ~CMetricMapsAlignmentAlgorithm ()
 Destructor. More...
 
CPosePDFPtr Align (const CMetricMap *m1, const CMetricMap *m2, const CPose2D &grossEst, float *runningTime=NULL, void *info=NULL)
 The method for aligning a pair of metric maps, aligning only 2D + orientation. More...
 
virtual CPosePDFPtr AlignPDF (const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)=0
 The virtual method for aligning a pair of metric maps, aligning only 2D + orientation. More...
 
CPose3DPDFPtr Align3D (const CMetricMap *m1, const CMetricMap *m2, const CPose3D &grossEst, float *runningTime=NULL, void *info=NULL)
 The method for aligning a pair of metric maps, aligning the full 6D pose. More...
 
virtual CPose3DPDFPtr Align3DPDF (const CMetricMap *m1, const CMetricMap *m2, const CPose3DPDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)=0
 The virtual method for aligning a pair of metric maps, aligning the full 6D pose. More...
 

Static Public Member Functions

static void printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...
 

Constructor & Destructor Documentation

◆ ~CMetricMapsAlignmentAlgorithm()

virtual mrpt::slam::CMetricMapsAlignmentAlgorithm::~CMetricMapsAlignmentAlgorithm ( )
inlinevirtual

Destructor.

Definition at line 37 of file CMetricMapsAlignmentAlgorithm.h.

Member Function Documentation

◆ Align()

CPosePDFPtr mrpt::slam::CMetricMapsAlignmentAlgorithm::Align ( const CMetricMap m1,
const CMetricMap m2,
const CPose2D grossEst,
float *  runningTime = NULL,
void *  info = NULL 
)

The method for aligning a pair of metric maps, aligning only 2D + orientation.

The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Parameters
m1[IN] The first map
m2[IN] The second map. The pose of this map respect to m1 is to be estimated.
grossEst[IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to CPose2D(0,0,0) for example.
runningTime[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
info[OUT] See derived classes for details, or NULL if it isn't needed.
Returns
A smart pointer to the output estimated pose PDF.
See also
CICP

◆ Align3D()

CPose3DPDFPtr mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D ( const CMetricMap m1,
const CMetricMap m2,
const CPose3D grossEst,
float *  runningTime = NULL,
void *  info = NULL 
)

The method for aligning a pair of metric maps, aligning the full 6D pose.

The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Parameters
m1[IN] The first map
m2[IN] The second map. The pose of this map respect to m1 is to be estimated.
grossEst[IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to CPose3D(0,0,0) for example.
runningTime[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
info[OUT] See derived classes for details, or NULL if it isn't needed.
Returns
A smart pointer to the output estimated pose PDF.
See also
CICP

◆ Align3DPDF()

virtual CPose3DPDFPtr mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3DPDF ( const CMetricMap m1,
const CMetricMap m2,
const CPose3DPDFGaussian initialEstimationPDF,
float *  runningTime = NULL,
void *  info = NULL 
)
pure virtual

The virtual method for aligning a pair of metric maps, aligning the full 6D pose.

The meaning of some parameters are implementation dependant, so look at the derived classes for more details. The goal is to find a PDF for the pose displacement between maps, that is, the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Note
This method can be configurated with a "options" structure in the implementation classes.
Parameters
m1[IN] The first map (MUST BE A COccupancyGridMap2D derived class)
m2[IN] The second map. (MUST BE A CPointsMap derived class) The pose of this map respect to m1 is to be estimated.
initialEstimationPDF[IN] An initial gross estimation for the displacement.
runningTime[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
info[OUT] See derived classes for details, or NULL if it isn't needed.
   \return A smart pointer to the output estimated pose PDF.
   \sa CICP

Implemented in mrpt::slam::CGridMapAligner, and mrpt::slam::CICP.

◆ AlignPDF()

virtual CPosePDFPtr mrpt::slam::CMetricMapsAlignmentAlgorithm::AlignPDF ( const CMetricMap m1,
const CMetricMap m2,
const CPosePDFGaussian initialEstimationPDF,
float *  runningTime = NULL,
void *  info = NULL 
)
pure virtual

The virtual method for aligning a pair of metric maps, aligning only 2D + orientation.

The meaning of some parameters are implementation dependant, so look at the derived classes for more details. The goal is to find a PDF for the pose displacement between maps, that is, the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Note
This method can be configurated with a "options" structure in the implementation classes.
Parameters
m1[IN] The first map (MUST BE A COccupancyGridMap2D derived class)
m2[IN] The second map. (MUST BE A CPointsMap derived class) The pose of this map respect to m1 is to be estimated.
initialEstimationPDF[IN] An initial gross estimation for the displacement.
runningTime[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
info[OUT] See derived classes for details, or NULL if it isn't needed.
   \return A smart pointer to the output estimated pose PDF.
   \sa CICP

Implemented in mrpt::slam::CGridMapAligner, and mrpt::slam::CICP.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().




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