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00017 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TSDF_MATCH_COST_FUNCTION_2D_H_
00018 #define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TSDF_MATCH_COST_FUNCTION_2D_H_
00019
00020 #include "cartographer/mapping/2d/tsdf_2d.h"
00021 #include "cartographer/sensor/point_cloud.h"
00022 #include "ceres/ceres.h"
00023
00024 namespace cartographer {
00025 namespace mapping {
00026 namespace scan_matching {
00027
00028
00029
00030
00031 ceres::CostFunction* CreateTSDFMatchCostFunction2D(
00032 const double scaling_factor, const sensor::PointCloud& point_cloud,
00033 const TSDF2D& grid);
00034
00035 }
00036 }
00037 }
00038
00039 #endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TSDF_MATCH_COST_FUNCTION_2D_H_