warp_point_rigid_3d.h
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00040 
00041 
00042 #ifndef PCL_WARP_POINT_RIGID_3D_H_
00043 #define PCL_WARP_POINT_RIGID_3D_H_
00044 
00045 #include <pcl/registration/eigen.h>
00046 #include <pcl/registration/warp_point_rigid.h>
00047 
00048 namespace pcl
00049 {
00050   namespace registration
00051   {
00059     template <typename PointSourceT, typename PointTargetT, typename Scalar = float>
00060     class WarpPointRigid3D : public WarpPointRigid<PointSourceT, PointTargetT, Scalar>
00061     {
00062       public:
00063         typedef typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::Matrix4 Matrix4;
00064         typedef typename WarpPointRigid<PointSourceT, PointTargetT, Scalar>::VectorX VectorX;
00065 
00066         typedef boost::shared_ptr<WarpPointRigid3D<PointSourceT, PointTargetT, Scalar> > Ptr;
00067         typedef boost::shared_ptr<const WarpPointRigid3D<PointSourceT, PointTargetT, Scalar> > ConstPtr;
00068 
00070         WarpPointRigid3D () : WarpPointRigid<PointSourceT, PointTargetT, Scalar> (3) {}
00071       
00073         virtual ~WarpPointRigid3D () {}
00074 
00078         virtual void 
00079         setParam (const VectorX & p)
00080         {
00081           assert (p.rows () == this->getDimension ());
00082           Matrix4 &trans = this->transform_matrix_;
00083 
00084           trans = Matrix4::Zero ();
00085           trans (3, 3) = 1;
00086           trans (2, 2) = 1; // Rotation around the Z-axis
00087 
00088           // Copy the rotation and translation components
00089           trans.block (0, 3, 4, 1) = Eigen::Matrix<Scalar, 4, 1> (p[0], p[1], 0, 1.0);
00090 
00091           // Compute w from the unit quaternion
00092           Eigen::Rotation2D<Scalar> r (p[2]);
00093           trans.topLeftCorner (2, 2) = r.toRotationMatrix ();
00094         }
00095     };
00096   }
00097 }
00098 
00099 #endif
00100 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:38:43