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<div class="title">observations_overlap.h</div> </div>
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<a href="observations__overlap_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://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 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 observations_overlap_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define observations_overlap_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="obs_8h.html">mrpt/obs.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <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="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>slam
<a name="l00038"></a>00038 {<span class="comment"></span>
<a name="l00039"></a>00039 <span class="comment"> /** \addtogroup mrpt_slam_grp </span>
<a name="l00040"></a>00040 <span class="comment"> * @{ */</span>
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"> /** @name Observations overlap functions </span>
<a name="l00043"></a>00043 <span class="comment"> @{ */</span>
<a name="l00044"></a>00044 <span class="comment"></span>
<a name="l00045"></a>00045 <span class="comment"> /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.</span>
<a name="l00046"></a>00046 <span class="comment"> * \note This is used in mrpt::slam::CIncrementalMapPartitioner</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048 <span class="keywordtype">double</span> <a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> <a class="code" href="group__mrpt__slam__grp.html#ga2d32509abfdfd42e7597186bf2ab0ab0" title="Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into a...">observationsOverlap</a>(
<a name="l00049"></a>00049 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">mrpt::slam::CObservation</a>* o1,
<a name="l00050"></a>00050 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">mrpt::slam::CObservation</a>* o2,
<a name="l00051"></a>00051 <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 (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> *pose_o2_wrt_o1 = NULL );
<a name="l00052"></a>00052 <span class="comment"></span>
<a name="l00053"></a>00053 <span class="comment"> /** Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.</span>
<a name="l00054"></a>00054 <span class="comment"> * \note This is used in mrpt::slam::CIncrementalMapPartitioner</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a><a class="code" href="group__mrpt__slam__grp.html#ga3f4bb0b8cc83dec2e79704fab7cdfd52">00056</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="group__mrpt__slam__grp.html#ga2d32509abfdfd42e7597186bf2ab0ab0" title="Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into a...">observationsOverlap</a>(
<a name="l00057"></a>00057 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">mrpt::slam::CObservationPtr</a> & o1,
<a name="l00058"></a>00058 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">mrpt::slam::CObservationPtr</a> & o2,
<a name="l00059"></a>00059 <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 (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> *pose_o2_wrt_o1 = NULL )
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 <span class="keywordflow">return</span> <a class="code" href="group__mrpt__slam__grp.html#ga2d32509abfdfd42e7597186bf2ab0ab0" title="Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into a...">observationsOverlap</a>(o1.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html#a1322d521444219cbc75294abdac08440">pointer</a>(), o2.<a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html#a1322d521444219cbc75294abdac08440">pointer</a>(), pose_o2_wrt_o1 );
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.</span>
<a name="l00065"></a>00065 <span class="comment"> * This method computes the average between each of the observations in each SF.</span>
<a name="l00066"></a>00066 <span class="comment"> * \note This is used in mrpt::slam::CIncrementalMapPartitioner</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a>00068 <span class="keywordtype">double</span> <a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> <a class="code" href="group__mrpt__slam__grp.html#ga2d32509abfdfd42e7597186bf2ab0ab0" title="Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into a...">observationsOverlap</a>(
<a name="l00069"></a>00069 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">mrpt::slam::CSensoryFrame</a> &sf1,
<a name="l00070"></a>00070 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">mrpt::slam::CSensoryFrame</a> &sf2,
<a name="l00071"></a>00071 <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 (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> *pose_sf2_wrt_sf1 = NULL );
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.</span>
<a name="l00074"></a>00074 <span class="comment"> * This method computes the average between each of the observations in each SF.</span>
<a name="l00075"></a>00075 <span class="comment"> * \note This is used in mrpt::slam::CIncrementalMapPartitioner</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a><a class="code" href="group__mrpt__slam__grp.html#gad78544711408a739f049def4b50957ac">00077</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="group__mrpt__slam__grp.html#ga2d32509abfdfd42e7597186bf2ab0ab0" title="Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into a...">observationsOverlap</a>(
<a name="l00078"></a>00078 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">mrpt::slam::CSensoryFramePtr</a> &sf1,
<a name="l00079"></a>00079 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">mrpt::slam::CSensoryFramePtr</a> &sf2,
<a name="l00080"></a>00080 <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 (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> *pose_sf2_wrt_sf1 = NULL )
<a name="l00081"></a>00081 {
<a name="l00082"></a>00082 <span class="keywordflow">return</span> <a class="code" href="group__mrpt__slam__grp.html#ga2d32509abfdfd42e7597186bf2ab0ab0" title="Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into a...">observationsOverlap</a>(*sf1.<a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html#a3bcbfed2e84d823b792f0628fd50e275">pointer</a>(), *sf2.<a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html#a3bcbfed2e84d823b792f0628fd50e275">pointer</a>(), pose_sf2_wrt_sf1);
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** @} */</span>
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** @} */</span> <span class="comment">// end grouping</span>
<a name="l00088"></a>00088
<a name="l00089"></a>00089 } <span class="comment">// End of namespace</span>
<a name="l00090"></a>00090 } <span class="comment">// End of namespace</span>
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="preprocessor">#endif</span>
</pre></div></div>
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