Transformation.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      notice, this list of conditions and the following disclaimer.
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#include "PointMatcher.h"
#include "PointMatcherPrivate.h"

template<typename T>
PointMatcher<T>::Transformation::Transformation()
{}

template<typename T>
PointMatcher<T>::Transformation::Transformation(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params):
    Parametrizable(className,paramsDoc,params)
{}

template<typename T>
PointMatcher<T>::Transformation::~Transformation()
{}

template struct PointMatcher<float>::Transformation;
template struct PointMatcher<double>::Transformation;


template<typename T>
void PointMatcher<T>::Transformations::apply(DataPoints& cloud, const TransformationParameters& parameters) const
{
    DataPoints transformedCloud;
    for (TransformationsConstIt it = this->begin(); it != this->end(); ++it)
    {
        transformedCloud = (*it)->compute(cloud, parameters);
        swapDataPoints(cloud, transformedCloud);
    }
}

template struct PointMatcher<float>::Transformations;
template struct PointMatcher<double>::Transformations;