common.h

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/* +---------------------------------------------------------------------------+
         |                     Mobile Robot Programming Toolkit (MRPT)               |
         |                          http://www.mrpt.org/                             |
         |                                                                           |
         | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file        |
         | See: http://www.mrpt.org/Authors - All rights reserved.                   |
         | Released under BSD License. See details in http://www.mrpt.org/License    |
         +---------------------------------------------------------------------------+ */

#include <mrpt/poses/CPosePDF.h>
#include <mrpt/poses/CPosePDFSOG.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/slam/CGridMapAligner.h>
#include <sstream>

#include <mrpt/version.h>
#if MRPT_VERSION>=0x199
#include <mrpt/containers/stl_containers_utils.h>
#else
#include <mrpt/utils/stl_containers_utils.h>
#endif

namespace mrpt { namespace graphslam { namespace detail {

std::string getGridMapAlignmentResultsAsString(
                        const mrpt::poses::CPosePDF& pdf,
                        const mrpt::slam::CGridMapAligner::TReturnInfo& ret_info);

bool isEssentiallyZero(const mrpt::poses::CPose2D& p);

} } } // end of namespaces