9#ifndef CMetricMapsAlignmentAlgorithm_H
10#define CMetricMapsAlignmentAlgorithm_H
57 float *runningTime = NULL,
82 float *runningTime = NULL,
83 void *info = NULL ) = 0;
106 float *runningTime = NULL,
131 float *runningTime = NULL,
132 void *info = NULL ) = 0;
Declares a virtual base class for all metric maps storage classes.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
A base class for any algorithm able of maps alignment.
mrpt::poses::CPose3DPDFPtr Align3D(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3D &grossEst, float *runningTime=NULL, void *info=NULL)
The method for aligning a pair of metric maps, aligning the full 6D pose.
mrpt::poses::CPosePDFPtr Align(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose2D &grossEst, float *runningTime=NULL, void *info=NULL)
The method for aligning a pair of metric maps, aligning only 2D + orientation.
virtual mrpt::poses::CPose3DPDFPtr Align3DPDF(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3DPDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)=0
The virtual method for aligning a pair of metric maps, aligning the full 6D pose.
virtual mrpt::poses::CPosePDFPtr AlignPDF(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)=0
The virtual method for aligning a pair of metric maps, aligning only 2D + orientation.
virtual ~CMetricMapsAlignmentAlgorithm()
Destructor.
This base class provides a common printf-like method to send debug information to std::cout,...
struct BASE_IMPEXP CPose3DPDFPtr
struct BASE_IMPEXP CPosePDFPtr
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.