ICPTests Class Reference

Detailed Description

Definition at line 33 of file CICP_unittest.cpp.

Inheritance diagram for ICPTests:

Protected Member Functions
virtual void	SetUp ()
virtual void	TearDown ()
void	align2scans (const TICPAlgorithm icp_method)

Static Protected Member Functions
static void	generateObjects (CSetOfObjects::Ptr &world)

Member Function Documentation

align2scans()

void ICPTests::align2scans ( const TICPAlgorithm  icp_method )

inlineprotected

Definition at line 38 of file CICP_unittest.cpp.

References mrpt::slam::CICP::TConfigParams::ALFA, mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), mrpt::obs::CObservation2DRangeScan::aperture, ASSERT_, mrpt::DEG2RAD(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::slam::CICP::TConfigParams::doRANSAC, mrpt::slam::CICP::TConfigParams::ICP_algorithm, mrpt::maps::CMetricMap::insertObservation(), mrpt::obs::CObservation2DRangeScan::loadFromVectors(), M_PIf, mrpt::slam::CICP::TConfigParams::maxIterations, mrpt::slam::CICP::options, mrpt::obs::CObservation2DRangeScan::rightToLeft, SCAN_RANGES_1, SCAN_RANGES_2, SCAN_VALID_1, SCAN_VALID_2, SCANS_SIZE, mrpt::slam::CICP::TConfigParams::smallestThresholdDist, mrpt::slam::CICP::TConfigParams::thresholdAng, and mrpt::slam::CICP::TConfigParams::thresholdDist.

generateObjects()

static void ICPTests::generateObjects ( CSetOfObjects::Ptr &  world )

inlinestaticprotected

Definition at line 236 of file CICP_unittest.cpp.

References mrpt::DEG2RAD().

SetUp()

virtual void ICPTests::SetUp ( )

inlineprotectedvirtual

Definition at line 36 of file CICP_unittest.cpp.

TearDown()

virtual void ICPTests::TearDown ( )

inlineprotectedvirtual

Definition at line 37 of file CICP_unittest.cpp.