00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2008 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 CMetricMapsAlignmentAlgorithm_H 00029 #define CMetricMapsAlignmentAlgorithm_H 00030 00031 #include <mrpt/slam/CPointsMap.h> 00032 #include <mrpt/poses/CPose2D.h> 00033 #include <mrpt/poses/CPosePDF.h> 00034 #include <mrpt/poses/CPosePDFGaussian.h> 00035 00036 #include <mrpt/utils/CDebugOutputCapable.h> 00037 00038 namespace mrpt 00039 { 00040 namespace slam 00041 { 00047 class MRPTDLLIMPEXP CMetricMapsAlignmentAlgorithm : public mrpt::utils::CDebugOutputCapable 00048 { 00049 public: 00052 virtual ~CMetricMapsAlignmentAlgorithm() 00053 { 00054 } 00055 00072 CPosePDFPtr Align( 00073 const CMetricMap *m1, 00074 const CMetricMap *m2, 00075 const CPose2D &grossEst, 00076 float *runningTime = NULL, 00077 void *info = NULL ); 00078 00097 virtual CPosePDFPtr AlignPDF( 00098 const CMetricMap *m1, 00099 const CMetricMap *m2, 00100 const CPosePDFGaussian &initialEstimationPDF, 00101 float *runningTime = NULL, 00102 void *info = NULL ) = 0; 00103 00104 00105 }; 00106 00107 } // End of namespace 00108 } // End of namespace 00109 00110 #endif
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