class mrpt::slam::CMetricMapsAlignmentAlgorithm

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

#include <mrpt/slam/CMetricMapsAlignmentAlgorithm.h>

class CMetricMapsAlignmentAlgorithm: public mrpt::system::COutputLogger
{
public:
    // construction

    CMetricMapsAlignmentAlgorithm();

    //
methods

    virtual mrpt::poses::CPosePDF::Ptr AlignPDF(
        const mrpt::maps::CMetricMap* m1,
        const mrpt::maps::CMetricMap* m2,
        const mrpt::poses::CPosePDFGaussian& initialEstimationPDF,
        mrpt::optional_ref<TMetricMapAlignmentResult> outInfo = std::nullopt
        ) = 0;

    virtual mrpt::poses::CPose3DPDF::Ptr Align3DPDF(
        const mrpt::maps::CMetricMap* m1,
        const mrpt::maps::CMetricMap* m2,
        const mrpt::poses::CPose3DPDFGaussian& initialEstimationPDF,
        mrpt::optional_ref<TMetricMapAlignmentResult> outInfo = std::nullopt
        ) = 0;
};

// direct descendants

class CGridMapAligner;
class CICP;

Inherited Members

public:
    // structs

    struct TMsg;