00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CCONSISTENTOBSERVATIONALIGNMENT_H 00029 #define CCONSISTENTOBSERVATIONALIGNMENT_H 00030 00031 #include <mrpt/slam/CSensFrameProbSequence.h> 00032 #include <mrpt/poses/CPose2D.h> 00033 #include <mrpt/slam/CPointsMap.h> 00034 #include <mrpt/slam/CICP.h> 00035 #include <mrpt/poses/CPosePDFGaussian.h> 00036 #include <mrpt/slam/COccupancyGridMap2D.h> 00037 00038 #include <mrpt/utils/CDebugOutputCapable.h> 00039 #include <mrpt/math/CMatrix.h> 00040 #include <mrpt/math/CMatrixTemplateObjects.h> 00041 00042 namespace mrpt 00043 { 00044 namespace slam 00045 { 00046 using namespace mrpt::math; 00047 00067 class MRPTDLLIMPEXP CConsistentObservationAlignment : public mrpt::utils::CDebugOutputCapable 00068 { 00069 protected: 00072 typedef std::vector<CPosePDFGaussian> vector_posesPdf; 00073 00074 public: 00075 00076 CConsistentObservationAlignment(); 00077 00080 struct MRPTDLLIMPEXP TOptions 00081 { 00084 TOptions(); 00085 00088 bool matchAgainstGridmap; 00089 00092 float gridMapsResolution; 00093 00096 CPointsMap::TInsertionOptions pointsMapOptions; 00097 00100 COccupancyGridMap2D::TInsertionOptions gridInsertOptions; 00101 00104 CICP::TConfigParams icpOptions; 00105 00106 } options; 00107 00113 void execute( 00114 CSensFrameProbSequence &inputMap, 00115 CSensFrameProbSequence &outputMap ); 00116 00121 static void optimizeUserSuppliedData( 00122 math::CMatrixTemplateObjects<CPosePDFGaussian> &in_PoseConstraints, 00123 math::CMatrixTemplateObjects<CPosePDFGaussian> &out_OptimalPoses ); 00124 00127 std::string getAlgorithmName(); 00128 00129 }; // End of class def. 00130 00131 } // End of namespace 00132 } // End of namespace 00133 00134 #endif
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