9 #ifndef CMetricMapsAlignmentAlgorithm_H 10 #define CMetricMapsAlignmentAlgorithm_H 67 void* info =
nullptr);
101 float* runningTime =
nullptr,
void* info =
nullptr) = 0;
134 void* info =
nullptr);
168 float* runningTime =
nullptr,
void* info =
nullptr) = 0;
mrpt::poses::CPosePDF::Ptr Align(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose2D &grossEst, float *runningTime=nullptr, void *info=nullptr)
The method for aligning a pair of metric maps, aligning only 2D + orientation.
mrpt::poses::CPose3DPDF::Ptr Align3D(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3D &grossEst, float *runningTime=nullptr, void *info=nullptr)
The method for aligning a pair of metric maps, aligning the full 6D pose.
virtual mrpt::poses::CPose3DPDF::Ptr Align3DPDF(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3DPDFGaussian &initialEstimationPDF, float *runningTime=nullptr, void *info=nullptr)=0
The virtual 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 ...
Versatile class for consistent logging and management of output messages.
virtual ~CMetricMapsAlignmentAlgorithm()
Dtor.
CMetricMapsAlignmentAlgorithm()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
virtual mrpt::poses::CPosePDF::Ptr AlignPDF(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float *runningTime=nullptr, void *info=nullptr)=0
The virtual method for aligning a pair of metric maps, aligning only 2D.
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...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A base class for any algorithm able of maps alignment.
COutputLogger()
Default class constructor.
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...