mrpt::slam::CMetricMapsAlignmentAlgorithm Class Reference

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:

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().