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<div class="title">mrpt::slam::CGridMapAligner Class Reference<div class="ingroups"><a class="el" href="group__mrpt__slam__grp.html">[mrpt-slam]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CGridMapAligner" --><!-- doxytag: inherits="mrpt::slam::CMetricMapsAlignmentAlgorithm" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A class for aligning two multi-metric maps (with an occupancy grid maps and a points map, at least) based on features extraction and matching. </p>
<p>The matching pose is returned as a Sum of Gaussians (<a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">poses::CPosePDFSOG</a>).</p>
<p>This method was reported in the paper: <br/>
</p>
<p>See <a class="el" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html#aa6dafc1cecd79b3181dc6509f87e5d68" title="The method for aligning a pair of metric maps, aligning only 2D + orientation.">CGridMapAligner::Align</a> for more instructions.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_grid_map_aligner_8h_source.html">mrpt/slam/CGridMapAligner.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CGridMapAligner:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_grid_map_aligner__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_grid_map_aligner_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node2" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html" title="A base class for any algorithm able of maps alignment." alt="" coords="4,80,285,107"/><area shape="rect" id="node4" 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 std::cout..." alt="" coords="34,5,256,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_grid_map_aligner-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html">TConfigParams</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The ICP algorithm configuration data. <a href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html">TReturnInfo</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The ICP algorithm return information. <a href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#ac1eb308374b6e0e5d661a10b6bb3e93a">TAlignerMethod</a> { <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#ac1eb308374b6e0e5d661a10b6bb3e93aafc7357caa6e462972b8ab485c82567cb">amRobustMatch</a> = 0,
<a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#ac1eb308374b6e0e5d661a10b6bb3e93aa905865f9e2966076896c11940f89577f">amCorrelation</a>,
<a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#ac1eb308374b6e0e5d661a10b6bb3e93aa95be4b7301e64a3f24ddf43a26e4403e">amModifiedRANSAC</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type for selecting the grid-map alignment algorithm. <a href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#ac1eb308374b6e0e5d661a10b6bb3e93a">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#acba7228111475f09336bba5dab9aaf26">CGridMapAligner</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#a40fb440cf36849f9d7f48ece9816ef73">AlignPDF</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m1, const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The method for aligning a pair of 2D points map. <a href="#a40fb440cf36849f9d7f48ece9816ef73"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#aa3e34e6a6e6f94965f792dd8712b75a4">Align3DPDF</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m1, const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The virtual method for aligning a pair of metric maps, aligning the full 6D pose. <a href="#aa3e34e6a6e6f94965f792dd8712b75a4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html#aa6dafc1cecd79b3181dc6509f87e5d68">Align</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m1, const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &grossEst, float *runningTime=NULL, void *info=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The method for aligning a pair of metric maps, aligning only 2D + orientation. <a href="#aa6dafc1cecd79b3181dc6509f87e5d68"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html#a0c431844ae5fa69e580920d6ab9b145b">Align3D</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m1, const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &grossEst, float *runningTime=NULL, void *info=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The method for aligning a pair of metric maps, aligning the full 6D pose. <a href="#a0c431844ae5fa69e580920d6ab9b145b"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html">mrpt::slam::CGridMapAligner::TConfigParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#a851c121158237079ee2213ac34729efd">options</a></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#a981d48f00c82db578a7f606cc553af0a">AlignPDF_correlation</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m1, const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Private member, implements one the algorithms. <a href="#a981d48f00c82db578a7f606cc553af0a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#aa07787306274b394711c895d9a178046">AlignPDF_robustMatch</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m1, const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *m2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Private member, implements both, the "robustMatch" and the newer "modifiedRANSAC" algorithms. <a href="#aa07787306274b394711c895d9a178046"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html">COccupancyGridMapFeatureExtractor</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#a93dc7aeec7634e06fb20d985715af91c">m_grid_feat_extr</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Grid map features extractor. <a href="#a93dc7aeec7634e06fb20d985715af91c"></a><br/></td></tr>
</table>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="ac1eb308374b6e0e5d661a10b6bb3e93a"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TAlignerMethod" ref="ac1eb308374b6e0e5d661a10b6bb3e93a" args="" -->
<div class="memitem">
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<td class="memname">enum <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#ac1eb308374b6e0e5d661a10b6bb3e93a">mrpt::slam::CGridMapAligner::TAlignerMethod</a></td>
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<div class="memdoc">
<p>The type for selecting the grid-map alignment algorithm. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="ac1eb308374b6e0e5d661a10b6bb3e93aafc7357caa6e462972b8ab485c82567cb"></a><!-- doxytag: member="amRobustMatch" ref="ac1eb308374b6e0e5d661a10b6bb3e93aafc7357caa6e462972b8ab485c82567cb" args="" -->amRobustMatch</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="ac1eb308374b6e0e5d661a10b6bb3e93aa905865f9e2966076896c11940f89577f"></a><!-- doxytag: member="amCorrelation" ref="ac1eb308374b6e0e5d661a10b6bb3e93aa905865f9e2966076896c11940f89577f" args="" -->amCorrelation</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="ac1eb308374b6e0e5d661a10b6bb3e93aa95be4b7301e64a3f24ddf43a26e4403e"></a><!-- doxytag: member="amModifiedRANSAC" ref="ac1eb308374b6e0e5d661a10b6bb3e93aa95be4b7301e64a3f24ddf43a26e4403e" args="" -->amModifiedRANSAC</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00085">85</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="acba7228111475f09336bba5dab9aaf26"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::CGridMapAligner" ref="acba7228111475f09336bba5dab9aaf26" args="()" -->
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<td class="memname">mrpt::slam::CGridMapAligner::CGridMapAligner </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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</table>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00079">79</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aa6dafc1cecd79b3181dc6509f87e5d68"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::Align" ref="aa6dafc1cecd79b3181dc6509f87e5d68" args="(const CMetricMap *m1, const CMetricMap *m2, const CPose2D &grossEst, float *runningTime=NULL, void *info=NULL)" -->
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> mrpt::slam::CMetricMapsAlignmentAlgorithm::Align </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m1</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m2</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>grossEst</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>runningTime</em> = <code>NULL</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">void * </td>
<td class="paramname"><em>info</em> = <code>NULL</code> </td>
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<td>)</td>
<td></td><td><code> [inherited]</code></td>
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<p>The method for aligning a pair of metric maps, aligning only 2D + orientation. </p>
<p>The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the derived classes for instructions. The target is to find a PDF for the pose displacement between maps, <b>thus the pose of m2 relative to m1</b>. This pose is returned as a PDF rather than a single value.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">m1</td><td>[IN] The first map </td></tr>
<tr><td class="paramname">m2</td><td>[IN] The second map. The pose of this map respect to m1 is to be estimated. </td></tr>
<tr><td class="paramname">grossEst</td><td>[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. </td></tr>
<tr><td class="paramname">runningTime</td><td>[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it. </td></tr>
<tr><td class="paramname">info</td><td>[OUT] See derived classes for details, or NULL if it isn't needed.</td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>A smart pointer to the output estimated pose PDF. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p.html" title="Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a ...">CICP</a> </dd></dl>
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<a class="anchor" id="a0c431844ae5fa69e580920d6ab9b145b"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::Align3D" ref="a0c431844ae5fa69e580920d6ab9b145b" args="(const CMetricMap *m1, const CMetricMap *m2, const CPose3D &grossEst, float *runningTime=NULL, void *info=NULL)" -->
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m2</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>grossEst</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float * </td>
<td class="paramname"><em>runningTime</em> = <code>NULL</code>, </td>
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<td></td>
<td class="paramtype">void * </td>
<td class="paramname"><em>info</em> = <code>NULL</code> </td>
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<td>)</td>
<td></td><td><code> [inherited]</code></td>
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<p>The method for aligning a pair of metric maps, aligning the full 6D pose. </p>
<p>The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the derived classes for instructions. The target is to find a PDF for the pose displacement between maps, <b>thus the pose of m2 relative to m1</b>. This pose is returned as a PDF rather than a single value.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">m1</td><td>[IN] The first map </td></tr>
<tr><td class="paramname">m2</td><td>[IN] The second map. The pose of this map respect to m1 is to be estimated. </td></tr>
<tr><td class="paramname">grossEst</td><td>[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. </td></tr>
<tr><td class="paramname">runningTime</td><td>[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it. </td></tr>
<tr><td class="paramname">info</td><td>[OUT] See derived classes for details, or NULL if it isn't needed.</td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>A smart pointer to the output estimated pose PDF. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p.html" title="Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a ...">CICP</a> </dd></dl>
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<a class="anchor" id="aa3e34e6a6e6f94965f792dd8712b75a4"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::Align3DPDF" ref="aa3e34e6a6e6f94965f792dd8712b75a4" args="(const CMetricMap *m1, const CMetricMap *m2, const CPose3DPDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)" -->
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> mrpt::slam::CGridMapAligner::Align3DPDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> & </td>
<td class="paramname"><em>initialEstimationPDF</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float * </td>
<td class="paramname"><em>runningTime</em> = <code>NULL</code>, </td>
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<td class="paramtype">void * </td>
<td class="paramname"><em>info</em> = <code>NULL</code> </td>
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<td>)</td>
<td></td><td><code> [inline, virtual]</code></td>
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<p>The virtual method for aligning a pair of metric maps, aligning the full 6D pose. </p>
<p>The meaning of some parameters are implementation dependant, so look at the derived classes for more details. The goal is to find a PDF for the pose displacement between maps, that is, <b>the pose of m2 relative to m1</b>. This pose is returned as a PDF rather than a single value.</p>
<dl class="note"><dt><b>Note:</b></dt><dd>This method can be configurated with a "options" structure in the implementation classes.</dd></dl>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">m1</td><td>[IN] The first map (MUST BE A <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html" title="A class for storing an occupancy grid map.">COccupancyGridMap2D</a> derived class) </td></tr>
<tr><td class="paramname">m2</td><td>[IN] The second map. (MUST BE A <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...">CPointsMap</a> derived class) The pose of this map respect to m1 is to be estimated. </td></tr>
<tr><td class="paramname">initialEstimationPDF</td><td>[IN] An initial gross estimation for the displacement. </td></tr>
<tr><td class="paramname">runningTime</td><td>[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it. </td></tr>
<tr><td class="paramname">info</td><td>[OUT] See derived classes for details, or NULL if it isn't needed.</td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>A smart pointer to the output estimated pose PDF. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p.html" title="Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a ...">CICP</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html#a017eed60f3088264f504f90856dfd77b">mrpt::slam::CMetricMapsAlignmentAlgorithm</a>.</p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00250">250</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
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<a class="anchor" id="a40fb440cf36849f9d7f48ece9816ef73"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::AlignPDF" ref="a40fb440cf36849f9d7f48ece9816ef73" args="(const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)" -->
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> mrpt::slam::CGridMapAligner::AlignPDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m1</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m2</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> & </td>
<td class="paramname"><em>initialEstimationPDF</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float * </td>
<td class="paramname"><em>runningTime</em> = <code>NULL</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">void * </td>
<td class="paramname"><em>info</em> = <code>NULL</code> </td>
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<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>The method for aligning a pair of 2D points map. </p>
<p>The meaning of some parameters are implementation dependant, so look for derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus <b>the pose of m2 relative to m1</b>. This pose is returned as a PDF rather than a single value.</p>
<p>NOTE: This method can be configurated with "options"</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">m1</td><td>[IN] The first map (Must be a <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html" title="This class stores any customizable set of metric maps.">mrpt::slam::CMultiMetricMap</a> class) </td></tr>
<tr><td class="paramname">m2</td><td>[IN] The second map (Must be a <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html" title="This class stores any customizable set of metric maps.">mrpt::slam::CMultiMetricMap</a> class) </td></tr>
<tr><td class="paramname">initialEstimationPDF</td><td>[IN] (IGNORED IN THIS ALGORITHM!) </td></tr>
<tr><td class="paramname">runningTime</td><td>[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it. </td></tr>
<tr><td class="paramname">info</td><td>[OUT] A pointer to a CAlignerFromMotionDraws::TReturnInfo struct, or NULL if result information are not required.</td></tr>
</table>
</dd>
</dl>
<dl class="note"><dt><b>Note:</b></dt><dd>The returned PDF depends on the selected alignment method:<ul>
<li>"amRobustMatch" --> A "poses::CPosePDFSOG" object.</li>
<li>"amCorrelation" --> A "poses::CPosePDFGrid" object.</li>
</ul>
</dd></dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>A smart pointer to the output estimated pose PDF. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>CPointsMapAlignmentAlgorithm, <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#a851c121158237079ee2213ac34729efd">options</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_maps_alignment_algorithm.html#add1ed631acbf0a3b4a6087fa24da9bd6">mrpt::slam::CMetricMapsAlignmentAlgorithm</a>.</p>
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<a class="anchor" id="a981d48f00c82db578a7f606cc553af0a"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::AlignPDF_correlation" ref="a981d48f00c82db578a7f606cc553af0a" args="(const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)" -->
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> mrpt::slam::CGridMapAligner::AlignPDF_correlation </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m1</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m2</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> & </td>
<td class="paramname"><em>initialEstimationPDF</em>, </td>
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<td class="paramname"><em>runningTime</em> = <code>NULL</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">void * </td>
<td class="paramname"><em>info</em> = <code>NULL</code> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [private]</code></td>
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<p>Private member, implements one the algorithms. </p>
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<a class="anchor" id="aa07787306274b394711c895d9a178046"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::AlignPDF_robustMatch" ref="aa07787306274b394711c895d9a178046" args="(const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)" -->
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> mrpt::slam::CGridMapAligner::AlignPDF_robustMatch </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m1</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>m2</em>, </td>
</tr>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> & </td>
<td class="paramname"><em>initialEstimationPDF</em>, </td>
</tr>
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<td class="paramkey"></td>
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<td class="paramtype">float * </td>
<td class="paramname"><em>runningTime</em> = <code>NULL</code>, </td>
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<td class="paramtype">void * </td>
<td class="paramname"><em>info</em> = <code>NULL</code> </td>
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<td>)</td>
<td></td><td><code> [private]</code></td>
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<p>Private member, implements both, the "robustMatch" and the newer "modifiedRANSAC" algorithms. </p>
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>frmt</em>, </td>
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<td class="paramtype"> </td>
<td class="paramname"><em>...</em> </td>
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<td></td><td><code> [static, inherited]</code></td>
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<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a93dc7aeec7634e06fb20d985715af91c"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::m_grid_feat_extr" ref="a93dc7aeec7634e06fb20d985715af91c" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map_feature_extractor.html">COccupancyGridMapFeatureExtractor</a> <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#a93dc7aeec7634e06fb20d985715af91c">mrpt::slam::CGridMapAligner::m_grid_feat_extr</a><code> [private]</code></td>
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<p>Grid map features extractor. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00076">76</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<a class="anchor" id="a851c121158237079ee2213ac34729efd"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::options" ref="a851c121158237079ee2213ac34729efd" args="" -->
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<td class="memname"> <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html">mrpt::slam::CGridMapAligner::TConfigParams</a> <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#a851c121158237079ee2213ac34729efd">mrpt::slam::CGridMapAligner::options</a></td>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
