#include <PointToPlaneWithCov.h>

Inheritance diagram for PointToPlaneWithCovErrorMinimizer< T >:

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

typedef Parametrizable::ParametersDoc	ParametersDoc

typedef PointMatcherSupport::Parametrizable	Parametrizable

typedef PointMatcher< T >::TransformationParameters	TransformationParameters

typedef PointMatcher< T >::Vector	Vector

Public Types inherited from PointToPlaneErrorMinimizer< T >
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

typedef Parametrizable::ParametersDoc	ParametersDoc

typedef PointMatcherSupport::Parametrizable	Parametrizable

typedef PointMatcher< T >::TransformationParameters	TransformationParameters

typedef PointMatcher< T >::Vector	Vector

Public Types inherited from PointMatcherSupport::Parametrizable
typedef bool(*	LexicalComparison) (std::string a, std::string b)
	A function that returns whether a is smaller than b. More...

typedef std::string	Parameter
	alias More...

typedef std::map< std::string, Parameter >	Parameters
	Parameters stored as a map of string->string. More...

typedef std::vector< ParameterDoc >	ParametersDoc
	The documentation of all parameters. More...

typedef std::set< std::string >	ParametersUsed
	Parameters whose value has been read. More...

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. More...

Matrix	estimateCovariance (const ErrorElements &mPts, const TransformationParameters &transformation)

virtual Matrix	getCovariance () const
	If not redefined by child class, return zero matrix. More...

virtual const std::string	name ()

	PointToPlaneWithCovErrorMinimizer (const Parameters &params=Parameters())

Public Member Functions inherited from PointToPlaneErrorMinimizer< T >
TransformationParameters	compute_in_place (ErrorElements &mPts)

virtual T	getOverlap () const
	If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization. More...

virtual T	getResidualError (const DataPoints &filteredReading, const DataPoints &filteredReference, const OutlierWeights &outlierWeights, const Matches &matches) const
	If not redefined by child class, return max value for T. More...

	PointToPlaneErrorMinimizer (const Parameters &params=Parameters())

	PointToPlaneErrorMinimizer (const ParametersDoc paramsDoc, const Parameters &params)

Public Member Functions inherited from PointMatcher< T >::ErrorMinimizer
virtual TransformationParameters	compute (const DataPoints &filteredReading, const DataPoints &filteredReference, const OutlierWeights &outlierWeights, const Matches &matches)
	Find the transformation that minimizes the error. More...

	ErrorMinimizer ()
	Construct without parameter. More...

	ErrorMinimizer (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with parameters. More...

ErrorElements	getErrorElements () const
	Return the last the ErrorElements structure that was used for error minimization. More...

T	getPointUsedRatio () const
	Return the ratio of how many points were used for error minimization. More...

T	getWeightedPointUsedRatio () const
	Return the ratio of how many points were used (with weight) for error minimization. More...

virtual	~ErrorMinimizer ()
	virtual destructor More...

Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
S	get (const std::string &paramName)
	Return the value of paramName, lexically-casted to S. More...

std::string	getParamValueString (const std::string &paramName)
	Get the value of a parameter, as a string. More...

	Parametrizable ()
	Construct a documentation of parameters from a description in the source. More...

	Parametrizable (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with documented parameters. More...

virtual	~Parametrizable ()
	Virtual destructor, do nothing. More...

Static Public Member Functions
static const ParametersDoc	availableParameters ()

static const std::string	description ()

Static Public Member Functions inherited from PointToPlaneErrorMinimizer< T >
static const ParametersDoc	availableParameters ()

static T	computeResidualError (ErrorElements mPts, const bool &force2D)

static const std::string	description ()

Static Public Member Functions inherited from PointMatcher< T >::ErrorMinimizer
static Matrix	crossProduct (const Matrix &A, const Matrix &B)
	Helper funtion doing the cross product in 3D and a pseudo cross product in 2D. More...

Static Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
static bool	Comp (std::string a, std::string b)
	Return whether a < b, lexically casted to S. More...

Public Attributes
Matrix	covMatrix

const T	sensorStdDev

Public Attributes inherited from PointToPlaneErrorMinimizer< T >
const bool	force2D

const bool	force4DOF

Public Attributes inherited from PointMatcherSupport::Parametrizable
const std::string	className
	name of the class More...

Parameters	parameters
	parameters with their values encoded in string More...

const ParametersDoc	parametersDoc
	documentation of parameters More...

ParametersUsed	parametersUsed
	parameters whose value has actually been read More...

Additional Inherited Members
Protected Attributes inherited from PointMatcher< T >::ErrorMinimizer
ErrorElements	lastErrorElements
	memory of the last computed error More...

Detailed Description

template<typename T>
struct PointToPlaneWithCovErrorMinimizer< T >

Definition at line 43 of file PointToPlaneWithCov.h.

Member Typedef Documentation

◆ DataPoints

template<typename T >

typedef PointMatcher<T>::DataPoints PointToPlaneWithCovErrorMinimizer< T >::DataPoints

Definition at line 51 of file PointToPlaneWithCov.h.

◆ ErrorElements

template<typename T >

typedef PointMatcher<T>::ErrorMinimizer::ErrorElements PointToPlaneWithCovErrorMinimizer< T >::ErrorElements

Definition at line 55 of file PointToPlaneWithCov.h.

◆ ErrorMinimizer

template<typename T >

typedef PointMatcher<T>::ErrorMinimizer PointToPlaneWithCovErrorMinimizer< T >::ErrorMinimizer

Definition at line 54 of file PointToPlaneWithCov.h.

◆ Matches

template<typename T >

typedef PointMatcher<T>::Matches PointToPlaneWithCovErrorMinimizer< T >::Matches

Definition at line 52 of file PointToPlaneWithCov.h.

◆ Matrix

template<typename T >

typedef PointMatcher<T>::Matrix PointToPlaneWithCovErrorMinimizer< T >::Matrix

Definition at line 58 of file PointToPlaneWithCov.h.

◆ OutlierWeights

template<typename T >

typedef PointMatcher<T>::OutlierWeights PointToPlaneWithCovErrorMinimizer< T >::OutlierWeights

Definition at line 53 of file PointToPlaneWithCov.h.

◆ P

template<typename T >

typedef PointMatcherSupport::Parametrizable PointToPlaneWithCovErrorMinimizer< T >::P

Definition at line 46 of file PointToPlaneWithCov.h.

◆ ParameterDoc

template<typename T >

typedef Parametrizable::ParameterDoc PointToPlaneWithCovErrorMinimizer< T >::ParameterDoc

Definition at line 48 of file PointToPlaneWithCov.h.

◆ Parameters

template<typename T >

typedef Parametrizable::Parameters PointToPlaneWithCovErrorMinimizer< T >::Parameters

Definition at line 47 of file PointToPlaneWithCov.h.

◆ ParametersDoc

template<typename T >

typedef Parametrizable::ParametersDoc PointToPlaneWithCovErrorMinimizer< T >::ParametersDoc

Definition at line 49 of file PointToPlaneWithCov.h.

◆ Parametrizable

template<typename T >

typedef PointMatcherSupport::Parametrizable PointToPlaneWithCovErrorMinimizer< T >::Parametrizable

Definition at line 45 of file PointToPlaneWithCov.h.

◆ TransformationParameters

template<typename T >

typedef PointMatcher<T>::TransformationParameters PointToPlaneWithCovErrorMinimizer< T >::TransformationParameters

Definition at line 56 of file PointToPlaneWithCov.h.

◆ Vector

template<typename T >

typedef PointMatcher<T>::Vector PointToPlaneWithCovErrorMinimizer< T >::Vector

Definition at line 57 of file PointToPlaneWithCov.h.

Constructor & Destructor Documentation

◆ PointToPlaneWithCovErrorMinimizer()

template<typename T >

PointToPlaneWithCovErrorMinimizer< T >::PointToPlaneWithCovErrorMinimizer ( const Parameters & params = Parameters() )

Definition at line 54 of file PointToPlaneWithCov.cpp.

Member Function Documentation

◆ availableParameters()

template<typename T >

static const ParametersDoc PointToPlaneWithCovErrorMinimizer< T >::availableParameters ( )

inlinestatic

Definition at line 70 of file PointToPlaneWithCov.h.

◆ compute()

template<typename T >

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.

◆ description()

template<typename T >

static const std::string PointToPlaneWithCovErrorMinimizer< T >::description ( )

inlinestatic

Definition at line 65 of file PointToPlaneWithCov.h.

◆ estimateCovariance()

template<typename T >

PointMatcher< T >::Matrix PointToPlaneWithCovErrorMinimizer< T >::estimateCovariance	(	const ErrorElements &	mPts,
		const TransformationParameters &	transformation
	)

Definition at line 73 of file PointToPlaneWithCov.cpp.

◆ getCovariance()

template<typename T >

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.

◆ name()

template<typename T >

virtual const std::string PointToPlaneWithCovErrorMinimizer< T >::name ( )

inlinevirtual

Reimplemented from PointToPlaneErrorMinimizer< T >.

Definition at line 60 of file PointToPlaneWithCov.h.

Member Data Documentation

◆ covMatrix

template<typename T >

Matrix PointToPlaneWithCovErrorMinimizer< T >::covMatrix

Definition at line 80 of file PointToPlaneWithCov.h.

◆ sensorStdDev

template<typename T >

const T PointToPlaneWithCovErrorMinimizer< T >::sensorStdDev

Definition at line 79 of file PointToPlaneWithCov.h.

The documentation for this struct was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<typename T> struct PointToPlaneWithCovErrorMinimizer< T >

Member Typedef Documentation

◆ DataPoints

◆ ErrorElements

◆ ErrorMinimizer

◆ Matches

◆ Matrix

◆ OutlierWeights

◆ P

◆ ParameterDoc

◆ Parameters

◆ ParametersDoc

◆ Parametrizable

◆ TransformationParameters

◆ Vector

Constructor & Destructor Documentation

◆ PointToPlaneWithCovErrorMinimizer()

Member Function Documentation

◆ availableParameters()

◆ compute()

◆ description()

◆ estimateCovariance()

◆ getCovariance()

◆ name()

Member Data Documentation

◆ covMatrix

◆ sensorStdDev

template<typename T>
struct PointToPlaneWithCovErrorMinimizer< T >