#include <dissimilarity_getter.h>

Public Member Functions
	DissimilarityGetter (const ros::NodeHandle &nh_private)
bool	getDissimilarity (place_matcher_msgs::PolygonDissimilarityRequest &req, place_matcher_msgs::PolygonDissimilarityResponse &res)
Private Types
typedef std::vector< unsigned int >	Hist
Private Member Functions
size_t	crossCorrelationHist (Hist h1, Hist h2)
Hist	getRotHist (const geometry_msgs::Polygon poly)
int	getTransBinCount (double min, double max)
void	initParams ()
Private Attributes
double	max_dist_
int	max_trans_bin_count_
ros::NodeHandle	nh_private_
double	rot_resolution_
	Rotational resolution (rad), parameter rotational_resolution.
double	trans_resolution_
	Translational resolution (m), parameter translational_resolution.
Static Private Attributes
static const size_t	shift_ = 4

Detailed Description

Definition at line 17 of file dissimilarity_getter.h.

Member Typedef Documentation

typedef std::vector<unsigned int> place_matcher_hist::DissimilarityGetter::Hist [private]

Definition at line 27 of file dissimilarity_getter.h.

Constructor & Destructor Documentation

place_matcher_hist::DissimilarityGetter::DissimilarityGetter ( const ros::NodeHandle & nh_private )

Definition at line 105 of file dissimilarity_getter.cpp.

Member Function Documentation

size_t place_matcher_hist::DissimilarityGetter::crossCorrelationHist	(	DissimilarityGetter::Hist	h1,
		DissimilarityGetter::Hist	h2
	)		`[private]`

Returns:: the index in h1

Definition at line 311 of file dissimilarity_getter.cpp.

bool place_matcher_hist::DissimilarityGetter::getDissimilarity	(	place_matcher_msgs::PolygonDissimilarityRequest &	req,
		place_matcher_msgs::PolygonDissimilarityResponse &	res
	)

Definition at line 135 of file dissimilarity_getter.cpp.

DissimilarityGetter::Hist place_matcher_hist::DissimilarityGetter::getRotHist ( const geometry_msgs::Polygon poly ) [private]

Definition at line 279 of file dissimilarity_getter.cpp.

int place_matcher_hist::DissimilarityGetter::getTransBinCount	(	double	min,
		double	max
	)		`[inline, private]`

Definition at line 49 of file dissimilarity_getter.h.

void place_matcher_hist::DissimilarityGetter::initParams ( ) [private]

Definition at line 117 of file dissimilarity_getter.cpp.

Member Data Documentation

double place_matcher_hist::DissimilarityGetter::max_dist_ [private]

The normal calculed from points that are apart by more than max_dist_ is not included in the histogram, parameter max_distance_normal_considered.

Definition at line 36 of file dissimilarity_getter.h.

int place_matcher_hist::DissimilarityGetter::max_trans_bin_count_ [private]

Max. number of bins for the translational histogram, in the case that the number of bins is actually limited by this numnber, translational_resolution will not be respected.

Definition at line 31 of file dissimilarity_getter.h.

ros::NodeHandle place_matcher_hist::DissimilarityGetter::nh_private_ [private]

Definition at line 55 of file dissimilarity_getter.h.

double place_matcher_hist::DissimilarityGetter::rot_resolution_ [private]

Rotational resolution (rad), parameter rotational_resolution.

Definition at line 35 of file dissimilarity_getter.h.

const size_t place_matcher_hist::DissimilarityGetter::shift_ = 4 [static, private]

Max. number of indexes to skip when computing the normals.

Definition at line 41 of file dissimilarity_getter.h.

double place_matcher_hist::DissimilarityGetter::trans_resolution_ [private]

Translational resolution (m), parameter translational_resolution.

Definition at line 30 of file dissimilarity_getter.h.