19 #ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ 20 #define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ 25 #include "cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h" 30 namespace mapping_3d {
31 namespace scan_matching {
36 const mapping_2d::scan_matching::proto::
37 RealTimeCorrelativeScanMatcherOptions& options);
59 const mapping_2d::scan_matching::proto::RealTimeCorrelativeScanMatcherOptions
67 #endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ RealTimeCorrelativeScanMatcher & operator=(const RealTimeCorrelativeScanMatcher &)=delete
float ScoreCandidate(const HybridGrid &hybrid_grid, const sensor::PointCloud &transformed_point_cloud, const transform::Rigid3f &transform) const
const mapping_2d::scan_matching::proto::RealTimeCorrelativeScanMatcherOptions options_
std::vector< Eigen::Vector3f > PointCloud
std::vector< transform::Rigid3f > GenerateExhaustiveSearchTransforms(float resolution, const sensor::PointCloud &point_cloud) const
float Match(const transform::Rigid3d &initial_pose_estimate, const sensor::PointCloud &point_cloud, const HybridGrid &hybrid_grid, transform::Rigid3d *pose_estimate) const
RealTimeCorrelativeScanMatcher(const mapping_2d::scan_matching::proto::RealTimeCorrelativeScanMatcherOptions &options)