TransformationChecker.cpp
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2 // vim: ts=4:sw=4:noexpandtab
3 /*
4 
5 Copyright (c) 2010--2012,
6 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
9 
10 All rights reserved.
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12 Redistribution and use in source and binary forms, with or without
13 modification, are permitted provided that the following conditions are met:
14  * Redistributions of source code must retain the above copyright
15  notice, this list of conditions and the following disclaimer.
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17  notice, this list of conditions and the following disclaimer in the
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21  derived from this software without specific prior written permission.
22 
23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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25 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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32 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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34 */
35 
36 #include "PointMatcher.h"
37 #include "PointMatcherPrivate.h"
38 
40 template<typename T>
42 {}
43 
45 template<typename T>
47  Parametrizable(className,paramsDoc,params)
48 {}
49 
51 template<typename T>
53 {}
54 
56 template<typename T>
58 {
59  return limits;
60 }
61 
63 template<typename T>
65 {
66  return conditionVariables;
67 }
68 
70 template<typename T>
72 {
73  return limitNames;
74 }
75 
77 template<typename T>
79 {
80  return conditionVariableNames;
81 }
82 
84 template<typename T>
86 {
87  Vector angles;
88  if(parameters.rows() == 4)
89  {
90  angles = Vector::Zero(3);
91 
92  angles(0) = atan2(parameters(2,0), parameters(2,1));
93  angles(1) = acos(parameters(2,2));
94  angles(2) = -atan2(parameters(0,2), parameters(1,2));
95  }
96  else
97  {
98  angles = Vector::Zero(1);
99 
100  angles(0) = acos(parameters(0,0));
101  }
102 
103  return angles;
104 }
105 
108 
109 
111 template<typename T>
113 {
114  for (TransformationCheckersIt it = this->begin(); it != this->end(); ++it)
115  (*it)->init(parameters, iterate);
116 }
117 
119 template<typename T>
121 {
122  for (TransformationCheckersIt it = this->begin(); it != this->end(); ++it)
123  (*it)->check(parameters, iterate);
124 }
125 
PointMatcher::TransformationChecker::getConditionVariables
const Vector & getConditionVariables() const
Return the values of variables involved in conditions to stop ICP loop.
Definition: TransformationChecker.cpp:64
PointMatcher::TransformationChecker::getConditionVariableNames
const StringVector & getConditionVariableNames() const
Return the names of variables involved in conditions to stop ICP loop.
Definition: TransformationChecker.cpp:78
PointMatcher::TransformationChecker::getLimits
const Vector & getLimits() const
Return the value of limits involved in conditions to stop ICP loop.
Definition: TransformationChecker.cpp:57
PointMatcher::TransformationCheckersIt
TransformationCheckers::iterator TransformationCheckersIt
alias
Definition: PointMatcher.h:613
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcherPrivate.h
PointMatcher::TransformationChecker::TransformationChecker
TransformationChecker()
Construct without parameter.
Definition: TransformationChecker.cpp:41
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointMatcher::TransformationCheckers::init
void init(const TransformationParameters &parameters, bool &iterate)
Init all transformation checkers, set iterate to false if iteration should stop.
Definition: TransformationChecker.cpp:112
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:144
PointMatcher::TransformationChecker
A transformation checker can stop the iteration depending on some conditions.
Definition: PointMatcher.h:580
PointMatcher::TransformationChecker::~TransformationChecker
virtual ~TransformationChecker()
Destructor.
Definition: TransformationChecker.cpp:52
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
PointMatcher::TransformationCheckers::check
void check(const TransformationParameters &parameters, bool &iterate)
Check using all transformation checkers, set iterate to false if iteration should stop.
Definition: TransformationChecker.cpp:120
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:98
PointMatcher::TransformationCheckers
A chain of TransformationChecker.
Definition: PointMatcher.h:608
PointMatcher::TransformationChecker::StringVector
std::vector< std::string > StringVector
a vector of strings
Definition: PointMatcher.h:583
PointMatcher.h
public interface
PointMatcher::TransformationChecker::getLimitNames
const StringVector & getLimitNames() const
Return the names of limits involved in conditions to stop ICP loop.
Definition: TransformationChecker.cpp:71
PointMatcher::TransformationChecker::matrixToAngles
static Vector matrixToAngles(const TransformationParameters &parameters)
Extract the Euler angles from a rigid-transformation matrix.
Definition: TransformationChecker.cpp:85
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:156
PointMatcher::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182


mp2p_icp
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autogenerated on Wed Oct 23 2024 02:45:41