edge_measurements.h

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#ifndef PCL_EDGE_MEASUREMENTS_H_
#define PCL_EDGE_MEASUREMENTS_H_

namespace pcl
{
  namespace registration
  {
    struct NullMeasurement
    {};

    template <typename VertexT, typename InformationT>
    struct PoseMeasurement
    {
      VertexT v_start, v_end;
      Eigen::Matrix4f relative_transformation;
      InformationT information_matrix;

      PoseMeasurement (const VertexT& v_s, const VertexT& v_e, const Eigen::Matrix4f& tr, const InformationT& mtx)
        : v_start (v_s), v_end (v_e), relative_transformation (tr), information_matrix (mtx) {}
    };
  }
}

#endif // PCL_EDGE_MEASUREMENTS_H_