vertex_estimates.h

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#ifndef PCL_VERTEX_ESTIMATES_H_
#define PCL_VERTEX_ESTIMATES_H_

#include <pcl/point_cloud.h>

namespace pcl
{
  namespace registration
  {
    struct NullEstimate
    {};

    template <typename PointT>
    struct PoseEstimate
    {
      Eigen::Matrix4f pose;
      typename pcl::PointCloud<PointT>::ConstPtr cloud;

      PoseEstimate (const Eigen::Matrix4f& p = Eigen::Matrix4f::Identity(),
                    const typename pcl::PointCloud<PointT>::ConstPtr& c = typename pcl::PointCloud<PointT>::ConstPtr())
        : pose (p), cloud (c) {}
    };
  }
}

#endif // PCL_VERTEX_ESTIMATES_H_