Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
CovarianceSamplingDataPointsFilter< T > Struct Template Reference

#include <CovarianceSampling.h>

Inheritance diagram for CovarianceSamplingDataPointsFilter< T >:
Inheritance graph
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Public Types

typedef PM::DataPoints DataPoints
 
typedef PM::DataPointsFilter DataPointsFilter
 
typedef DataPoints::Index Index
 
typedef PointMatcher< T >::DataPoints::InvalidField InvalidField
 
typedef Parametrizable::InvalidParameter InvalidParameter
 
typedef PointMatcher< T >::Matrix Matrix
 
using Matrix66 = Eigen::Matrix< T, 6, 6 >
 
typedef PointMatcherSupport::Parametrizable P
 
typedef Parametrizable::ParameterDoc ParameterDoc
 
typedef Parametrizable::Parameters Parameters
 
typedef Parametrizable::ParametersDoc ParametersDoc
 
typedef PointMatcherSupport::Parametrizable Parametrizable
 
typedef PointMatcher< T > PM
 
enum  TorqueNormMethod : std::uint8_t { L1 =0, Lavg =1, Lmax =2 }
 
typedef PointMatcher< T >::Vector Vector
 
using Vector3 = Eigen::Matrix< T, 3, 1 >
 
using Vector6 = Eigen::Matrix< T, 6, 1 >
 
- 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, ParameterParameters
 Parameters stored as a map of string->string. More...
 
typedef std::vector< ParameterDocParametersDoc
 The documentation of all parameters. More...
 
typedef std::set< std::string > ParametersUsed
 Parameters whose value has been read. More...
 

Public Member Functions

 CovarianceSamplingDataPointsFilter (const Parameters &params=Parameters())
 
virtual DataPoints filter (const DataPoints &input)
 Apply filters to input point cloud. This is the non-destructive version and returns a copy. More...
 
virtual void inPlaceFilter (DataPoints &cloud)
 Apply these filters to a point cloud without copying. More...
 
virtual ~CovarianceSamplingDataPointsFilter ()
 
- Public Member Functions inherited from PointMatcher< T >::DataPointsFilter
 DataPointsFilter ()
 Construct without parameter. More...
 
 DataPointsFilter (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
 Construct with parameters. More...
 
virtual void init ()
 Init this filter. More...
 
virtual ~DataPointsFilter ()
 virtual destructor More...
 
- Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename 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...
 
template<typename T >
std::vector< T > getVector (const std::string &paramName)
 Return the value of paramName, lexically-casted std::vector<S> 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 T computeConditionNumber (const Matrix66 &cov)
 
static const std::string description ()
 
- 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

std::size_t nbSample
 
TorqueNormMethod normalizationMethod
 
- 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...
 

Detailed Description

template<typename T>
struct CovarianceSamplingDataPointsFilter< T >

Definition at line 40 of file CovarianceSampling.h.

Member Typedef Documentation

◆ DataPoints

template<typename T >
typedef PM::DataPoints CovarianceSamplingDataPointsFilter< T >::DataPoints

Definition at line 44 of file CovarianceSampling.h.

◆ DataPointsFilter

Definition at line 45 of file CovarianceSampling.h.

◆ Index

template<typename T >
typedef DataPoints::Index CovarianceSamplingDataPointsFilter< T >::Index

Definition at line 54 of file CovarianceSampling.h.

◆ InvalidField

Definition at line 56 of file CovarianceSampling.h.

◆ InvalidParameter

Definition at line 52 of file CovarianceSampling.h.

◆ Matrix

template<typename T >
typedef PointMatcher<T>::Matrix CovarianceSamplingDataPointsFilter< T >::Matrix

Definition at line 59 of file CovarianceSampling.h.

◆ Matrix66

template<typename T >
using CovarianceSamplingDataPointsFilter< T >::Matrix66 = Eigen::Matrix<T, 6, 6>

Definition at line 61 of file CovarianceSampling.h.

◆ P

Definition at line 48 of file CovarianceSampling.h.

◆ ParameterDoc

Definition at line 50 of file CovarianceSampling.h.

◆ Parameters

Definition at line 49 of file CovarianceSampling.h.

◆ ParametersDoc

Definition at line 51 of file CovarianceSampling.h.

◆ Parametrizable

Definition at line 47 of file CovarianceSampling.h.

◆ PM

template<typename T >
typedef PointMatcher<T> CovarianceSamplingDataPointsFilter< T >::PM

Definition at line 43 of file CovarianceSampling.h.

◆ Vector

template<typename T >
typedef PointMatcher<T>::Vector CovarianceSamplingDataPointsFilter< T >::Vector

Definition at line 58 of file CovarianceSampling.h.

◆ Vector3

template<typename T >
using CovarianceSamplingDataPointsFilter< T >::Vector3 = Eigen::Matrix<T, 3, 1>

Definition at line 63 of file CovarianceSampling.h.

◆ Vector6

template<typename T >
using CovarianceSamplingDataPointsFilter< T >::Vector6 = Eigen::Matrix<T, 6, 1>

Definition at line 62 of file CovarianceSampling.h.

Member Enumeration Documentation

◆ TorqueNormMethod

template<typename T >
enum CovarianceSamplingDataPointsFilter::TorqueNormMethod : std::uint8_t
Enumerator
L1 
Lavg 
Lmax 

Definition at line 78 of file CovarianceSampling.h.

Constructor & Destructor Documentation

◆ CovarianceSamplingDataPointsFilter()

Definition at line 48 of file CovarianceSampling.cpp.

◆ ~CovarianceSamplingDataPointsFilter()

template<typename T >
virtual CovarianceSamplingDataPointsFilter< T >::~CovarianceSamplingDataPointsFilter ( )
inlinevirtual

Definition at line 88 of file CovarianceSampling.h.

Member Function Documentation

◆ availableParameters()

template<typename T >
static const ParametersDoc CovarianceSamplingDataPointsFilter< T >::availableParameters ( )
inlinestatic

Definition at line 70 of file CovarianceSampling.h.

◆ computeConditionNumber()

template<typename T >
T CovarianceSamplingDataPointsFilter< T >::computeConditionNumber ( const Matrix66 cov)
static

Definition at line 255 of file CovarianceSampling.cpp.

◆ description()

template<typename T >
static const std::string CovarianceSamplingDataPointsFilter< T >::description ( )
inlinestatic

Definition at line 65 of file CovarianceSampling.h.

◆ filter()

template<typename T >
PointMatcher< T >::DataPoints CovarianceSamplingDataPointsFilter< T >::filter ( const DataPoints input)
virtual

Apply filters to input point cloud. This is the non-destructive version and returns a copy.

Implements PointMatcher< T >::DataPointsFilter.

Definition at line 66 of file CovarianceSampling.cpp.

◆ inPlaceFilter()

template<typename T >
void CovarianceSamplingDataPointsFilter< T >::inPlaceFilter ( DataPoints cloud)
virtual

Apply these filters to a point cloud without copying.

-— Part A, as we compare the cloud with himself, the overlap is 100%, so we keep all points

-— Part B

Add point iteratively till we got the desired number of point

(4) Sample the point cloud

Implements PointMatcher< T >::DataPointsFilter.

Definition at line 74 of file CovarianceSampling.cpp.

Member Data Documentation

◆ nbSample

template<typename T >
std::size_t CovarianceSamplingDataPointsFilter< T >::nbSample

Definition at line 80 of file CovarianceSampling.h.

◆ normalizationMethod

template<typename T >
TorqueNormMethod CovarianceSamplingDataPointsFilter< T >::normalizationMethod

Definition at line 81 of file CovarianceSampling.h.


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


libpointmatcher
Author(s):
autogenerated on Mon Sep 16 2024 02:24:11