MRPT  2.0.4
CMetricMapsAlignmentAlgorithm.cpp
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3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
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9 
10 #include "slam-precomp.h" // Precompiled headers
11 
13 #include <mrpt/poses/CPosePDF.h>
16 
17 using namespace mrpt::slam;
18 using namespace mrpt::maps;
19 using namespace mrpt::math;
20 using namespace mrpt::poses;
21 
24  const CPose2D& grossEst,
26 {
27  CPosePDFGaussian posePDF(grossEst, CMatrixDouble33());
28  return AlignPDF(m1, m2, posePDF, outInfo);
29 }
30 
33  const CPose3D& grossEst,
35 {
36  CPose3DPDFGaussian posePDF;
37  posePDF.mean = grossEst;
38  return Align3DPDF(m1, m2, posePDF, outInfo);
39 }
mrpt::poses::CPosePDF::Ptr Align(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose2D &grossEst, mrpt::optional_ref< TMetricMapAlignmentResult > outInfo=std::nullopt)
The method for aligning a pair of metric maps, for SE(2) relative poses.
CPose3D mean
The mean value.
std::optional< std::reference_wrapper< T > > optional_ref
Shorter name for std::optional<std::reference_wrapper<T>>
Definition: optional_ref.h:20
CMatrixFixed< double, 3, 3 > CMatrixDouble33
Definition: CMatrixFixed.h:367
This base provides a set of functions for maths stuff.
Declares a class that represents a Probability Density function (PDF) of a 2D pose ...
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
Declares a virtual base class for all metric maps storage classes.
Definition: CMetricMap.h:52
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle...
Definition: CPose2D.h:39
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:85
mrpt::poses::CPose3DPDF::Ptr Align3D(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3D &grossEst, mrpt::optional_ref< TMetricMapAlignmentResult > outInfo=std::nullopt)
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...



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