MRPT  1.9.9
CMetricMapsAlignmentAlgorithm.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, 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 |
8  +------------------------------------------------------------------------+ */
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 
22 /*---------------------------------------------------------------
23  Align
24  ---------------------------------------------------------------*/
27  const CPose2D& grossEst, float* runningTime, void* info)
28 {
29  CPosePDFGaussian posePDF(grossEst, CMatrixDouble33());
30  return AlignPDF(m1, m2, posePDF, runningTime, info);
31 }
32 
33 /*---------------------------------------------------------------
34  Align3D
35  ---------------------------------------------------------------*/
38  const CPose3D& grossEst, float* runningTime, void* info)
39 {
40  CPose3DPDFGaussian posePDF;
41  posePDF.mean = grossEst;
42  return Align3DPDF(m1, m2, posePDF, runningTime, info);
43 }
CPose3D mean
The mean value.
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.
CMatrixFixed< double, 3, 3 > CMatrixDouble33
Definition: CMatrixFixed.h:352
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:84
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...



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