OdometryF2F.h
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #ifndef ODOMETRYF2F_H_
00029 #define ODOMETRYF2F_H_
00030 
00031 #include <rtabmap/core/Odometry.h>
00032 #include <rtabmap/core/Signature.h>
00033 
00034 namespace rtabmap {
00035 
00036 class Registration;
00037 
00038 class RTABMAP_EXP OdometryF2F : public Odometry
00039 {
00040 public:
00041         OdometryF2F(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
00042         virtual ~OdometryF2F();
00043 
00044         virtual void reset(const Transform & initialPose = Transform::getIdentity());
00045 
00046         const Signature & getRefFrame() const {return refFrame_;}
00047 
00048         virtual Odometry::Type getType() {return Odometry::kTypeF2F;}
00049 
00050 private:
00051         virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
00052 
00053 private:
00054         //Parameters:
00055         float keyFrameThr_;
00056         int visKeyFrameThr_;
00057         float scanKeyFrameThr_;
00058 
00059         Registration * registrationPipeline_;
00060         Signature refFrame_;
00061         Transform lastKeyFramePose_;
00062         ParametersMap parameters_;
00063 };
00064 
00065 }
00066 
00067 #endif /* ODOMETRYF2F_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:21