CMetricMapsAlignmentAlgorithm.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "slam-precomp.h"  // Precompiled headers

#include <mrpt/slam/CMetricMapsAlignmentAlgorithm.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>

using namespace mrpt::slam;
using namespace mrpt::maps;
using namespace mrpt::math;
using namespace mrpt::poses;

/*---------------------------------------------------------------
                    Align
  ---------------------------------------------------------------*/
CPosePDF::Ptr CMetricMapsAlignmentAlgorithm::Align(
    const mrpt::maps::CMetricMap* m1, const mrpt::maps::CMetricMap* m2,
    const CPose2D& grossEst, float* runningTime, void* info)
{
    CPosePDFGaussian posePDF(grossEst, CMatrixDouble33());
    return AlignPDF(m1, m2, posePDF, runningTime, info);
}

/*---------------------------------------------------------------
                    Align3D
  ---------------------------------------------------------------*/
CPose3DPDF::Ptr CMetricMapsAlignmentAlgorithm::Align3D(
    const mrpt::maps::CMetricMap* m1, const mrpt::maps::CMetricMap* m2,
    const CPose3D& grossEst, float* runningTime, void* info)
{
    CPose3DPDFGaussian posePDF;
    posePDF.mean = grossEst;
    return Align3DPDF(m1, m2, posePDF, runningTime, info);
}