cartographer: low_resolution_matcher.h Source File

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00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
00018 #define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
00019 
00020 #include <functional>
00021 
00022 #include "cartographer/mapping/3d/hybrid_grid.h"
00023 #include "cartographer/sensor/point_cloud.h"
00024 #include "cartographer/transform/rigid_transform.h"
00025 
00026 namespace cartographer {
00027 namespace mapping {
00028 namespace scan_matching {
00029 
00030 std::function<float(const transform::Rigid3f&)> CreateLowResolutionMatcher(
00031     const HybridGrid* low_resolution_grid, const sensor::PointCloud* points);
00032 
00033 }  // namespace scan_matching
00034 }  // namespace mapping
00035 }  // namespace cartographer
00036 
00037 #endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_