#include <CovarianceSampling.h>

Inheritance diagram for CovarianceSamplingDataPointsFilter< T >:

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, 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
	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 >
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 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

template<typename T >

typedef PM::DataPointsFilter CovarianceSamplingDataPointsFilter< T >::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

template<typename T >

typedef PointMatcher<T>::DataPoints::InvalidField CovarianceSamplingDataPointsFilter< T >::InvalidField

Definition at line 56 of file CovarianceSampling.h.

◆ InvalidParameter

template<typename T >

typedef Parametrizable::InvalidParameter CovarianceSamplingDataPointsFilter< T >::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

template<typename T >

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

Definition at line 48 of file CovarianceSampling.h.

◆ ParameterDoc

template<typename T >

typedef Parametrizable::ParameterDoc CovarianceSamplingDataPointsFilter< T >::ParameterDoc

Definition at line 50 of file CovarianceSampling.h.

◆ Parameters

template<typename T >

typedef Parametrizable::Parameters CovarianceSamplingDataPointsFilter< T >::Parameters

Definition at line 49 of file CovarianceSampling.h.

◆ ParametersDoc

template<typename T >

typedef Parametrizable::ParametersDoc CovarianceSamplingDataPointsFilter< T >::ParametersDoc

Definition at line 51 of file CovarianceSampling.h.

◆ Parametrizable

template<typename T >

typedef PointMatcherSupport::Parametrizable CovarianceSamplingDataPointsFilter< T >::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()

template<typename T >

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

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:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

template<typename T> struct CovarianceSamplingDataPointsFilter< T >

Member Typedef Documentation

◆ DataPoints

◆ DataPointsFilter

◆ Index

◆ InvalidField

◆ InvalidParameter

◆ Matrix

◆ Matrix66

◆ P

◆ ParameterDoc

◆ Parameters

◆ ParametersDoc

◆ Parametrizable

◆ PM

◆ Vector

◆ Vector3

◆ Vector6

Member Enumeration Documentation

◆ TorqueNormMethod

Constructor & Destructor Documentation

◆ CovarianceSamplingDataPointsFilter()

◆ ~CovarianceSamplingDataPointsFilter()

Member Function Documentation

◆ availableParameters()

◆ computeConditionNumber()

◆ description()

◆ filter()

◆ inPlaceFilter()

Member Data Documentation

◆ nbSample

◆ normalizationMethod

template<typename T>
struct CovarianceSamplingDataPointsFilter< T >