cob_3d_mapping_slam: registration.h Source File

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00001 
00059 /*
00060  * registration.h
00061  *
00062  *  Created on: 29.05.2012
00063  *      Author: josh
00064  */
00065 
00066 #ifndef SCP_REGISTRATION_H_
00067 #define SCP_REGISTRATION_H_
00068 
00069 #include "../dof/tflink.h"
00070 #include "object.h"
00071 
00072 namespace Slam_CurvedPolygon
00073 {
00074   template<typename _DOF6>
00075   class Registration
00076   {
00077   public:
00078     typedef _DOF6 DOF6;
00079     typedef Slam_CurvedPolygon::Object<DOF6> OBJECT;
00080 
00081   protected:
00082 
00088     void findCorrespondences(const OBJCTXT &ctxt, DOF6 &tf, std::list<OBJECT::Ptr> &cors);
00089     
00090 
00095     void optimizeLink(const OBJCTXT &ctxt, DOF6 &tf, std::list<OBJECT::Ptr> &cors, const TYPE &thr);
00096 
00097 
00098   public:
00099 
00100     bool registration(const OBJCTXT &ctxt, DOF6 &tf, typename DOF6::TYPE &probability_success_rate, typename DOF6::TYPE &probability_error_rate);
00101 
00102 
00103   };
00104 
00105 #include "impl/registration.hpp"
00106 
00107 
00108 #endif /* REGISTRATION_H_ */