Transformation.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
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/*

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.

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modification, are permitted provided that the following conditions are met:
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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
{
        // There is no chain per se, the current API is very confusing. Normally,
        // if this object is initialized correctly, there is one single iteration
        // to be done, just the type of the transform changes. 
        // TODO: This API must be re-written to not even have the concept
        // of chain for this classs. 
        int num_iter = 0;

        DataPoints transformedCloud;
        for (TransformationsConstIt it = this->begin(); it != this->end(); ++it)
        {
                transformedCloud = (*it)->compute(cloud, parameters);
                swapDataPoints(cloud, transformedCloud);
                num_iter++;
        }
        if (num_iter != 1)
                throw std::runtime_error("Transformations: Error, the transform should have been applied just once.");
}

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