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<h1>CMetricMapsAlignmentAlgorithm.h</h1><a href="_c_metric_maps_alignment_algorithm_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CMetricMapsAlignmentAlgorithm_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMetricMapsAlignmentAlgorithm_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_points_map_8h.html">mrpt/slam/CPointsMap.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_pose_p_d_f_8h.html">mrpt/poses/CPosePDF.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_8h.html">mrpt/poses/CPose3DPDF.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_pose_p_d_f_gaussian_8h.html">mrpt/poses/CPosePDFGaussian.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_gaussian_8h.html">mrpt/poses/CPose3DPDFGaussian.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="preprocessor">#include <<a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html">mrpt/slam/link_pragmas.h</a>></span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">namespace </span>mrpt
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">namespace </span>slam
<a name="l00045"></a>00045 {<span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** A base class for any algorithm able of maps alignment. There are two methods</span>
<a name="l00047"></a>00047 <span class="comment"> * depending on an PDF or a single 2D Pose value is available as initial guess for the methods.</span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * \sa CPointsMap, utils::CDebugOutputCapable</span>
<a name="l00050"></a>00050 <span class="comment"> */</span>
<a name="l00051"></a><a class="code" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html">00051</a> <span class="keyword">class </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html" title="A base class for any algorithm able of maps alignment.">CMetricMapsAlignmentAlgorithm</a> : <span class="keyword">public</span> mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to...">CDebugOutputCapable</a>
<a name="l00052"></a>00052 {
<a name="l00053"></a>00053 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** Destructor</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a><a class="code" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html#af8229035ad0a58e120e61e690a5639c9">00056</a> <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html" title="A base class for any algorithm able of maps alignment.">CMetricMapsAlignmentAlgorithm</a>()
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059 <span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** The method for aligning a pair of metric maps, aligning only 2D + orientation.</span>
<a name="l00061"></a>00061 <span class="comment"> * The meaning of some parameters and the kind of the maps to be aligned are implementation dependant,</span>
<a name="l00062"></a>00062 <span class="comment"> * so look into the derived classes for instructions.</span>
<a name="l00063"></a>00063 <span class="comment"> * The target is to find a PDF for the pose displacement between</span>
<a name="l00064"></a>00064 <span class="comment"> * maps, <b>thus the pose of m2 relative to m1</b>. This pose</span>
<a name="l00065"></a>00065 <span class="comment"> * is returned as a PDF rather than a single value.</span>
<a name="l00066"></a>00066 <span class="comment"> *</span>
<a name="l00067"></a>00067 <span class="comment"> * \param m1 [IN] The first map</span>
<a name="l00068"></a>00068 <span class="comment"> * \param m2 [IN] The second map. The pose of this map respect to m1 is to be estimated.</span>
<a name="l00069"></a>00069 <span class="comment"> * \param grossEst [IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to <code>CPose2D(0,0,0)</code> for example.</span>
<a name="l00070"></a>00070 <span class="comment"> * \param runningTime [OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.</span>
<a name="l00071"></a>00071 <span class="comment"> * \param info [OUT] See derived classes for details, or NULL if it isn't needed.</span>
<a name="l00072"></a>00072 <span class="comment"> *</span>
<a name="l00073"></a>00073 <span class="comment"> * \return A smart pointer to the output estimated pose PDF.</span>
<a name="l00074"></a>00074 <span class="comment"> * \sa CICP</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 CPosePDFPtr Align(
<a name="l00077"></a>00077 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00078"></a>00078 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00079"></a>00079 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &grossEst,
<a name="l00080"></a>00080 <span class="keywordtype">float</span> *runningTime = NULL,
<a name="l00081"></a>00081 <span class="keywordtype">void</span> *info = NULL );
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** The virtual method for aligning a pair of metric maps, aligning only 2D + orientation.</span>
<a name="l00084"></a>00084 <span class="comment"> * The meaning of some parameters are implementation dependant,</span>
<a name="l00085"></a>00085 <span class="comment"> * so look at the derived classes for more details.</span>
<a name="l00086"></a>00086 <span class="comment"> * The goal is to find a PDF for the pose displacement between</span>
<a name="l00087"></a>00087 <span class="comment"> * maps, that is, <b>the pose of m2 relative to m1</b>. This pose</span>
<a name="l00088"></a>00088 <span class="comment"> * is returned as a PDF rather than a single value.</span>
<a name="l00089"></a>00089 <span class="comment"> *</span>
<a name="l00090"></a>00090 <span class="comment"> * \note This method can be configurated with a "options" structure in the implementation classes.</span>
<a name="l00091"></a>00091 <span class="comment"> *</span>
<a name="l00092"></a>00092 <span class="comment"> * \param m1 [IN] The first map (MUST BE A COccupancyGridMap2D derived class)</span>
<a name="l00093"></a>00093 <span class="comment"> * \param m2 [IN] The second map. (MUST BE A CPointsMap derived class) The pose of this map respect to m1 is to be estimated.</span>
<a name="l00094"></a>00094 <span class="comment"> * \param initialEstimationPDF [IN] An initial gross estimation for the displacement.</span>
<a name="l00095"></a>00095 <span class="comment"> * \param runningTime [OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.</span>
<a name="l00096"></a>00096 <span class="comment"> * \param info [OUT] See derived classes for details, or NULL if it isn't needed.</span>
<a name="l00097"></a>00097 <span class="comment"> *</span>
<a name="l00098"></a>00098 <span class="comment"> * \return A smart pointer to the output estimated pose PDF.</span>
<a name="l00099"></a>00099 <span class="comment"> * \sa CICP</span>
<a name="l00100"></a>00100 <span class="comment"> */</span>
<a name="l00101"></a>00101 <span class="keyword">virtual</span> CPosePDFPtr AlignPDF(
<a name="l00102"></a>00102 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00103"></a>00103 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00104"></a>00104 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose...">CPosePDFGaussian</a> &initialEstimationPDF,
<a name="l00105"></a>00105 <span class="keywordtype">float</span> *runningTime = NULL,
<a name="l00106"></a>00106 <span class="keywordtype">void</span> *info = NULL ) = 0;
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** The method for aligning a pair of metric maps, aligning the full 6D pose.</span>
<a name="l00110"></a>00110 <span class="comment"> * The meaning of some parameters and the kind of the maps to be aligned are implementation dependant,</span>
<a name="l00111"></a>00111 <span class="comment"> * so look into the derived classes for instructions.</span>
<a name="l00112"></a>00112 <span class="comment"> * The target is to find a PDF for the pose displacement between</span>
<a name="l00113"></a>00113 <span class="comment"> * maps, <b>thus the pose of m2 relative to m1</b>. This pose</span>
<a name="l00114"></a>00114 <span class="comment"> * is returned as a PDF rather than a single value.</span>
<a name="l00115"></a>00115 <span class="comment"> *</span>
<a name="l00116"></a>00116 <span class="comment"> * \param m1 [IN] The first map</span>
<a name="l00117"></a>00117 <span class="comment"> * \param m2 [IN] The second map. The pose of this map respect to m1 is to be estimated.</span>
<a name="l00118"></a>00118 <span class="comment"> * \param grossEst [IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to <code>CPose3D(0,0,0)</code> for example.</span>
<a name="l00119"></a>00119 <span class="comment"> * \param runningTime [OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.</span>
<a name="l00120"></a>00120 <span class="comment"> * \param info [OUT] See derived classes for details, or NULL if it isn't needed.</span>
<a name="l00121"></a>00121 <span class="comment"> *</span>
<a name="l00122"></a>00122 <span class="comment"> * \return A smart pointer to the output estimated pose PDF.</span>
<a name="l00123"></a>00123 <span class="comment"> * \sa CICP</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a>00125 CPose3DPDFPtr Align3D(
<a name="l00126"></a>00126 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00127"></a>00127 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00128"></a>00128 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose.">CPose3D</a> &grossEst,
<a name="l00129"></a>00129 <span class="keywordtype">float</span> *runningTime = NULL,
<a name="l00130"></a>00130 <span class="keywordtype">void</span> *info = NULL );
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** The virtual method for aligning a pair of metric maps, aligning the full 6D pose.</span>
<a name="l00133"></a>00133 <span class="comment"> * The meaning of some parameters are implementation dependant,</span>
<a name="l00134"></a>00134 <span class="comment"> * so look at the derived classes for more details.</span>
<a name="l00135"></a>00135 <span class="comment"> * The goal is to find a PDF for the pose displacement between</span>
<a name="l00136"></a>00136 <span class="comment"> * maps, that is, <b>the pose of m2 relative to m1</b>. This pose</span>
<a name="l00137"></a>00137 <span class="comment"> * is returned as a PDF rather than a single value.</span>
<a name="l00138"></a>00138 <span class="comment"> *</span>
<a name="l00139"></a>00139 <span class="comment"> * \note This method can be configurated with a "options" structure in the implementation classes.</span>
<a name="l00140"></a>00140 <span class="comment"> *</span>
<a name="l00141"></a>00141 <span class="comment"> * \param m1 [IN] The first map (MUST BE A COccupancyGridMap2D derived class)</span>
<a name="l00142"></a>00142 <span class="comment"> * \param m2 [IN] The second map. (MUST BE A CPointsMap derived class) The pose of this map respect to m1 is to be estimated.</span>
<a name="l00143"></a>00143 <span class="comment"> * \param initialEstimationPDF [IN] An initial gross estimation for the displacement.</span>
<a name="l00144"></a>00144 <span class="comment"> * \param runningTime [OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.</span>
<a name="l00145"></a>00145 <span class="comment"> * \param info [OUT] See derived classes for details, or NULL if it isn't needed.</span>
<a name="l00146"></a>00146 <span class="comment"> *</span>
<a name="l00147"></a>00147 <span class="comment"> * \return A smart pointer to the output estimated pose PDF.</span>
<a name="l00148"></a>00148 <span class="comment"> * \sa CICP</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a>00150 <span class="keyword">virtual</span> CPose3DPDFPtr Align3DPDF(
<a name="l00151"></a>00151 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00152"></a>00152 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00153"></a>00153 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose...">CPose3DPDFGaussian</a> &initialEstimationPDF,
<a name="l00154"></a>00154 <span class="keywordtype">float</span> *runningTime = NULL,
<a name="l00155"></a>00155 <span class="keywordtype">void</span> *info = NULL ) = 0;
<a name="l00156"></a>00156
<a name="l00157"></a>00157
<a name="l00158"></a>00158 };
<a name="l00159"></a>00159
<a name="l00160"></a>00160 } <span class="comment">// End of namespace</span>
<a name="l00161"></a>00161 } <span class="comment">// End of namespace</span>
<a name="l00162"></a>00162
<a name="l00163"></a>00163 <span class="preprocessor">#endif</span>
</pre></div></div>
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