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observations_overlap.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  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 observations_overlap_H
00029 #define observations_overlap_H
00030 
00031 #include <mrpt/obs.h>
00032 
00033 #include <mrpt/slam/link_pragmas.h>
00034 
00035 namespace mrpt
00036 {
00037         namespace slam
00038         {
00039                 /** @name Observations overlap functions 
00040                     @{  */
00041         
00042                 /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
00043                   *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
00044                   */
00045                 double SLAM_IMPEXP observationsOverlap(
00046                         const mrpt::slam::CObservation* o1,
00047                         const mrpt::slam::CObservation* o2,
00048                         const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL );
00049 
00050                 /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
00051                   *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
00052                   */
00053                 inline double observationsOverlap(
00054                         const mrpt::slam::CObservationPtr & o1,
00055                         const mrpt::slam::CObservationPtr & o2,
00056                         const mrpt::poses::CPose3D *pose_o2_wrt_o1 = NULL ) 
00057                 {
00058                         return observationsOverlap(o1.pointer(), o2.pointer(), pose_o2_wrt_o1 );
00059                 }
00060                         
00061                 /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
00062                   *   This method computes the average between each of the observations in each SF.
00063                   *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
00064                   */
00065                 double SLAM_IMPEXP observationsOverlap(
00066                         const mrpt::slam::CSensoryFrame &sf1,
00067                         const mrpt::slam::CSensoryFrame &sf2,
00068                         const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL );
00069 
00070                 /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
00071                   *   This method computes the average between each of the observations in each SF.
00072                   *  \note This is used in mrpt::slam::CIncrementalMapPartitioner
00073                   */
00074                 inline double observationsOverlap(
00075                         const mrpt::slam::CSensoryFramePtr &sf1,
00076                         const mrpt::slam::CSensoryFramePtr &sf2,
00077                         const mrpt::poses::CPose3D *pose_sf2_wrt_sf1 = NULL )
00078                 {
00079                         return observationsOverlap(*sf1.pointer(), *sf2.pointer(), pose_sf2_wrt_sf1);
00080                 }
00081 
00082                 /** @} */
00083 
00084         } // End of namespace
00085 } // End of namespace
00086 
00087 #endif



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