#include <PointToPlaneWithCov.h>
Public Types | |
| typedef PointMatcher< T > ::DataPoints | DataPoints |
| typedef PointMatcher< T > ::ErrorMinimizer::ErrorElements | ErrorElements |
| typedef PointMatcher< T > ::ErrorMinimizer | ErrorMinimizer |
| typedef PointMatcher< T >::Matches | Matches |
| typedef PointMatcher< T >::Matrix | Matrix |
| typedef PointMatcher< T > ::OutlierWeights | OutlierWeights |
| typedef PointMatcherSupport::Parametrizable | P |
| typedef Parametrizable::ParameterDoc | ParameterDoc |
| typedef Parametrizable::Parameters | Parameters |
| Parameters stored as a map of string->string. | |
| typedef Parametrizable::ParametersDoc | ParametersDoc |
| The documentation of all parameters. | |
| typedef PointMatcherSupport::Parametrizable | Parametrizable |
| typedef PointMatcher< T > ::TransformationParameters | TransformationParameters |
| typedef PointMatcher< T >::Vector | Vector |
Public Member Functions | |
| virtual TransformationParameters | compute (const ErrorElements &mPts) |
| Find the transformation that minimizes the error given matched pair of points. This function most be defined for all new instances of ErrorMinimizer. | |
| Matrix | estimateCovariance (const ErrorElements &mPts, const TransformationParameters &transformation) |
| virtual Matrix | getCovariance () const |
| If not redefined by child class, return zero matrix. | |
| virtual const std::string | name () |
| PointToPlaneWithCovErrorMinimizer (const Parameters ¶ms=Parameters()) | |
Static Public Member Functions | |
| static const ParametersDoc | availableParameters () |
| static const std::string | description () |
Public Attributes | |
| Matrix | covMatrix |
| const T | sensorStdDev |
Detailed Description
template<typename T>
struct PointToPlaneWithCovErrorMinimizer< T >
Definition at line 43 of file PointToPlaneWithCov.h.
Member Typedef Documentation
| typedef PointMatcher<T>::DataPoints PointToPlaneWithCovErrorMinimizer< T >::DataPoints |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 51 of file PointToPlaneWithCov.h.
| typedef PointMatcher<T>::ErrorMinimizer::ErrorElements PointToPlaneWithCovErrorMinimizer< T >::ErrorElements |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 55 of file PointToPlaneWithCov.h.
| typedef PointMatcher<T>::ErrorMinimizer PointToPlaneWithCovErrorMinimizer< T >::ErrorMinimizer |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 54 of file PointToPlaneWithCov.h.
| typedef PointMatcher<T>::Matches PointToPlaneWithCovErrorMinimizer< T >::Matches |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 52 of file PointToPlaneWithCov.h.
| typedef PointMatcher<T>::Matrix PointToPlaneWithCovErrorMinimizer< T >::Matrix |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 58 of file PointToPlaneWithCov.h.
| typedef PointMatcher<T>::OutlierWeights PointToPlaneWithCovErrorMinimizer< T >::OutlierWeights |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 53 of file PointToPlaneWithCov.h.
| typedef PointMatcherSupport::Parametrizable PointToPlaneWithCovErrorMinimizer< T >::P |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 46 of file PointToPlaneWithCov.h.
| typedef Parametrizable::ParameterDoc PointToPlaneWithCovErrorMinimizer< T >::ParameterDoc |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 48 of file PointToPlaneWithCov.h.
| typedef Parametrizable::Parameters PointToPlaneWithCovErrorMinimizer< T >::Parameters |
Parameters stored as a map of string->string.
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 47 of file PointToPlaneWithCov.h.
| typedef Parametrizable::ParametersDoc PointToPlaneWithCovErrorMinimizer< T >::ParametersDoc |
The documentation of all parameters.
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 49 of file PointToPlaneWithCov.h.
| typedef PointMatcherSupport::Parametrizable PointToPlaneWithCovErrorMinimizer< T >::Parametrizable |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 45 of file PointToPlaneWithCov.h.
| typedef PointMatcher<T>::TransformationParameters PointToPlaneWithCovErrorMinimizer< T >::TransformationParameters |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 56 of file PointToPlaneWithCov.h.
| typedef PointMatcher<T>::Vector PointToPlaneWithCovErrorMinimizer< T >::Vector |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 57 of file PointToPlaneWithCov.h.
Constructor & Destructor Documentation
| PointToPlaneWithCovErrorMinimizer< T >::PointToPlaneWithCovErrorMinimizer | ( | const Parameters & | params = Parameters() | ) |
Definition at line 54 of file PointToPlaneWithCov.cpp.
Member Function Documentation
| static const ParametersDoc PointToPlaneWithCovErrorMinimizer< T >::availableParameters | ( | ) | [inline, static] |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 70 of file PointToPlaneWithCov.h.
| PointMatcher< T >::TransformationParameters PointToPlaneWithCovErrorMinimizer< T >::compute | ( | const ErrorElements & | matchedPoints | ) | [virtual] |
Find the transformation that minimizes the error given matched pair of points. This function most be defined for all new instances of ErrorMinimizer.
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 61 of file PointToPlaneWithCov.cpp.
| static const std::string PointToPlaneWithCovErrorMinimizer< T >::description | ( | ) | [inline, static] |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 65 of file PointToPlaneWithCov.h.
| PointMatcher< T >::Matrix PointToPlaneWithCovErrorMinimizer< T >::estimateCovariance | ( | const ErrorElements & | mPts, |
| const TransformationParameters & | transformation | ||
| ) |
Definition at line 73 of file PointToPlaneWithCov.cpp.
| PointMatcher< T >::Matrix PointToPlaneWithCovErrorMinimizer< T >::getCovariance | ( | ) | const [virtual] |
If not redefined by child class, return zero matrix.
Reimplemented from PointMatcher< T >::ErrorMinimizer.
Definition at line 166 of file PointToPlaneWithCov.cpp.
| virtual const std::string PointToPlaneWithCovErrorMinimizer< T >::name | ( | ) | [inline, virtual] |
Reimplemented from PointToPlaneErrorMinimizer< T >.
Definition at line 60 of file PointToPlaneWithCov.h.
Member Data Documentation
| Matrix PointToPlaneWithCovErrorMinimizer< T >::covMatrix |
Definition at line 79 of file PointToPlaneWithCov.h.
| const T PointToPlaneWithCovErrorMinimizer< T >::sensorStdDev |
Definition at line 78 of file PointToPlaneWithCov.h.
The documentation for this struct was generated from the following files: