36 #ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ 37 #define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ 46 #include "cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h" 49 namespace mapping_2d {
50 namespace scan_matching {
52 proto::RealTimeCorrelativeScanMatcherOptions
54 common::LuaParameterDictionary*
const parameter_dictionary);
60 const proto::RealTimeCorrelativeScanMatcherOptions& options);
81 const std::vector<DiscreteScan>& discrete_scans,
83 std::vector<Candidate>* candidates)
const;
89 const proto::RealTimeCorrelativeScanMatcherOptions
options_;
96 #endif // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ void ScoreCandidates(const ProbabilityGrid &probability_grid, const std::vector< DiscreteScan > &discrete_scans, const SearchParameters &search_parameters, std::vector< Candidate > *candidates) const
RealTimeCorrelativeScanMatcher(const proto::RealTimeCorrelativeScanMatcherOptions &options)
RealTimeCorrelativeScanMatcher & operator=(const RealTimeCorrelativeScanMatcher &)=delete
const proto::RealTimeCorrelativeScanMatcherOptions options_
proto::RealTimeCorrelativeScanMatcherOptions CreateRealTimeCorrelativeScanMatcherOptions(common::LuaParameterDictionary *const parameter_dictionary)
std::vector< Eigen::Vector3f > PointCloud
double Match(const transform::Rigid2d &initial_pose_estimate, const sensor::PointCloud &point_cloud, const ProbabilityGrid &probability_grid, transform::Rigid2d *pose_estimate) const
std::vector< Candidate > GenerateExhaustiveSearchCandidates(const SearchParameters &search_parameters) const