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28 return AlignPDF(m1, m2, posePDF, outInfo);
37 posePDF.
mean = grossEst;
38 return Align3DPDF(m1, m2, posePDF, outInfo);
mrpt::poses::CPose3DPDF::Ptr Align3D(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3D &grossEst, mrpt::optional_ref< TMetricMapAlignmentResult > outInfo=std::nullopt)
mrpt::poses::CPosePDF::Ptr Align(const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose2D &grossEst, mrpt::optional_ref< TMetricMapAlignmentResult > outInfo=std::nullopt)
The method for aligning a pair of metric maps, for SE(2) relative poses.
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
Declares a virtual base class for all metric maps storage classes.
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This base provides a set of functions for maths stuff.
std::shared_ptr< CPose3DPDF > Ptr
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
std::shared_ptr< CPosePDF > Ptr
CMatrixFixed< double, 3, 3 > CMatrixDouble33
CPose3D mean
The mean value.
std::optional< std::reference_wrapper< T > > optional_ref
Shorter name for std::optional<std::reference_wrapper<T>>
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