ICPTests Class Reference

Detailed Description

Definition at line 36 of file CICP_unittest.cpp.

Inheritance diagram for ICPTests:

Protected Member Functions
virtual void	SetUp ()
virtual void	TearDown ()
void	align2scans (const TICPAlgorithm icp_method)

Static Protected Member Functions
static void	generateObjects (CSetOfObjectsPtr &world)

Member Function Documentation

align2scans()

void ICPTests::align2scans ( const TICPAlgorithm  icp_method )

inlineprotected

Definition at line 43 of file CICP_unittest.cpp.

References mrpt::slam::CICP::TConfigParams::ALFA, mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), mrpt::obs::CObservation2DRangeScan::aperture, ASSERT_, DEG2RAD, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::slam::CICP::TConfigParams::doRANSAC, mrpt::slam::CICP::TConfigParams::ICP_algorithm, info, mrpt::maps::CMetricMap::insertObservation(), mrpt::obs::CObservation2DRangeScan::loadFromVectors(), M_PIf, mrpt::slam::CICP::TConfigParams::maxIterations, mrpt::slam::CICP::options, mrpt::obs::CObservation2DRangeScan::rightToLeft, SCANS_SIZE, mrpt::slam::CICP::TConfigParams::smallestThresholdDist, mrpt::slam::CICP::TConfigParams::thresholdAng, and mrpt::slam::CICP::TConfigParams::thresholdDist.

generateObjects()

static void ICPTests::generateObjects ( CSetOfObjectsPtr &  world )

inlinestaticprotected

Definition at line 107 of file CICP_unittest.cpp.

References mrpt::opengl::CDisk::Create(), and DEG2RAD.

SetUp()

virtual void ICPTests::SetUp ( )

inlineprotectedvirtual

Definition at line 38 of file CICP_unittest.cpp.

TearDown()

virtual void ICPTests::TearDown ( )

inlineprotectedvirtual

Definition at line 41 of file CICP_unittest.cpp.