Transformation.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      notice, this list of conditions and the following disclaimer.
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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*/

#include "PointMatcher.h"
#include "PointMatcherPrivate.h"

template<typename T>
PointMatcher<T>::Transformation::Transformation()
{}

template<typename T>
PointMatcher<T>::Transformation::Transformation(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params):
        Parametrizable(className,paramsDoc,params)
{}

template<typename T>
PointMatcher<T>::Transformation::~Transformation()
{}

template struct PointMatcher<float>::Transformation;
template struct PointMatcher<double>::Transformation;


template<typename T>
void PointMatcher<T>::Transformations::apply(DataPoints& cloud, const TransformationParameters& parameters) const
{
        DataPoints transformedCloud;
        for (TransformationsConstIt it = this->begin(); it != this->end(); ++it)
        {
                transformedCloud = (*it)->compute(cloud, parameters);
                swapDataPoints(cloud, transformedCloud);
        }
}

template struct PointMatcher<float>::Transformations;
template struct PointMatcher<double>::Transformations;