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CMetricMapsAlignmentAlgorithm.cpp
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #include "slam-precomp.h" // Precompiled headers
11 
13 #include <mrpt/poses/CPosePDF.h>
16 
17 using namespace mrpt::slam;
18 using namespace mrpt::maps;
19 using namespace mrpt::math;
20 using namespace mrpt::utils;
21 using namespace mrpt::poses;
22 
23 /*---------------------------------------------------------------
24  Align
25  ---------------------------------------------------------------*/
27  const mrpt::maps::CMetricMap *m1,
28  const mrpt::maps::CMetricMap *m2,
29  const CPose2D &grossEst,
30  float *runningTime,
31  void *info )
32 {
33  CPosePDFGaussian posePDF(grossEst, CMatrixDouble33() );
34  return AlignPDF(m1,m2,posePDF,runningTime,info);
35 }
36 
37 /*---------------------------------------------------------------
38  Align3D
39  ---------------------------------------------------------------*/
41  const mrpt::maps::CMetricMap *m1,
42  const mrpt::maps::CMetricMap *m2,
43  const CPose3D &grossEst,
44  float *runningTime,
45  void *info )
46 {
47  CPose3DPDFGaussian posePDF;
48  posePDF.mean = grossEst;
49  return Align3DPDF(m1,m2,posePDF,runningTime,info);
50 }
51 
52 
CPose3D mean
The mean value.
mrpt::poses::CPosePDFPtr Align(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose2D &grossEst, float *runningTime=NULL, void *info=NULL)
The method for aligning a pair of metric maps, aligning only 2D + orientation.
mrpt::poses::CPose3DPDFPtr Align3D(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3D &grossEst, float *runningTime=NULL, void *info=NULL)
The method for aligning a pair of metric maps, aligning the full 6D pose.
Declares a class that represents a Probability Density function (PDF) of a 2D pose ...
CMatrixFixedNumeric< double, 3, 3 > CMatrixDouble33
Definition: eigen_frwds.h:48
Declares a virtual base class for all metric maps storage classes.
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle...
Definition: CPose2D.h:36
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
backing_store_ptr info
Definition: jmemsys.h:170
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...



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