Main MRPT website > C++ reference for MRPT 1.5.7
List of all members | Public Member Functions
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,

Definition at line 28 of file CMetricMapsAlignmentAlgorithm.h.

#include <mrpt/slam/CMetricMapsAlignmentAlgorithm.h>

Inheritance diagram for mrpt::slam::CMetricMapsAlignmentAlgorithm:
Inheritance graph

Public Member Functions

 CMetricMapsAlignmentAlgorithm ()
 
virtual ~CMetricMapsAlignmentAlgorithm ()
 Dtor. More...
 
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. More...
 
virtual mrpt::poses::CPosePDFPtr AlignPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)=0
 The virtual method for aligning a pair of metric maps, aligning only 2D + orientation. More...
 
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. More...
 
virtual mrpt::poses::CPose3DPDFPtr Align3DPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::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...
 

Constructor & Destructor Documentation

◆ CMetricMapsAlignmentAlgorithm()

mrpt::slam::CMetricMapsAlignmentAlgorithm::CMetricMapsAlignmentAlgorithm ( )
inline

Definition at line 31 of file CMetricMapsAlignmentAlgorithm.h.

◆ ~CMetricMapsAlignmentAlgorithm()

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

Dtor.

Definition at line 33 of file CMetricMapsAlignmentAlgorithm.h.

Member Function Documentation

◆ Align()

CPosePDFPtr CMetricMapsAlignmentAlgorithm::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.

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

Definition at line 26 of file CMetricMapsAlignmentAlgorithm.cpp.

References info.

Referenced by ICPTests::align2scans(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ Align3D()

CPose3DPDFPtr CMetricMapsAlignmentAlgorithm::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.

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

Definition at line 40 of file CMetricMapsAlignmentAlgorithm.cpp.

References info, and mrpt::poses::CPose3DPDFGaussian::mean.

Referenced by TEST_F().

◆ Align3DPDF()

virtual mrpt::poses::CPose3DPDFPtr mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3DPDF ( const mrpt::maps::CMetricMap m1,
const mrpt::maps::CMetricMap m2,
const mrpt::poses::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 mrpt::poses::CPosePDFPtr mrpt::slam::CMetricMapsAlignmentAlgorithm::AlignPDF ( const mrpt::maps::CMetricMap m1,
const mrpt::maps::CMetricMap m2,
const mrpt::poses::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.




Page generated by Doxygen 1.8.14 for MRPT 1.5.7 Git: 8277875f6 Mon Jun 11 02:47:32 2018 +0200 at lun oct 28 01:50:49 CET 2019