mrpt_graphslam_2d: common.h Source File

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00001 /* +---------------------------------------------------------------------------+
00002          |                     Mobile Robot Programming Toolkit (MRPT)               |
00003          |                          http://www.mrpt.org/                             |
00004          |                                                                           |
00005          | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file        |
00006          | See: http://www.mrpt.org/Authors - All rights reserved.                   |
00007          | Released under BSD License. See details in http://www.mrpt.org/License    |
00008          +---------------------------------------------------------------------------+ */
00009 
00015 #include <mrpt/poses/CPosePDF.h>
00016 #include <mrpt/poses/CPosePDFSOG.h>
00017 #include <mrpt/poses/CPose2D.h>
00018 #include <mrpt/slam/CGridMapAligner.h>
00019 #include <sstream>
00020 
00021 #include <mrpt/version.h>
00022 #if MRPT_VERSION>=0x199
00023 #include <mrpt/containers/stl_containers_utils.h>
00024 #else
00025 #include <mrpt/utils/stl_containers_utils.h>
00026 #endif
00027 
00028 namespace mrpt { namespace graphslam { namespace detail {
00029 
00030 std::string getGridMapAlignmentResultsAsString(
00031                         const mrpt::poses::CPosePDF& pdf,
00032                         const mrpt::slam::CGridMapAligner::TReturnInfo& ret_info);
00033 
00034 bool isEssentiallyZero(const mrpt::poses::CPose2D& p);
00035 
00036 } } } // end of namespaces