TransformationsImpl.h
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2012,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 
00036 #ifndef __POINTMATCHER_TRANSFORMATIONS_H
00037 #define __POINTMATCHER_TRANSFORMATIONS_H
00038 
00039 #include "PointMatcher.h"
00040 
00041 template<typename T>
00042 struct TransformationsImpl
00043 {
00044         typedef PointMatcherSupport::Parametrizable Parametrizable;
00045         typedef PointMatcherSupport::Parametrizable P;
00046         typedef Parametrizable::Parameters Parameters;
00047         typedef Parametrizable::ParameterDoc ParameterDoc;
00048         typedef Parametrizable::ParametersDoc ParametersDoc;
00049         
00050         typedef typename PointMatcher<T>::DataPoints DataPoints;
00051         typedef typename PointMatcher<T>::TransformationParameters TransformationParameters;
00052         typedef typename PointMatcher<T>::Transformation Transformation;
00053         
00054         struct RigidTransformation: public Transformation
00055         {
00056                 inline static const std::string description()
00057                 {
00058                         return "Rigid transformation.";
00059                 }
00060                 
00061                 virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
00062                 virtual bool checkParameters(const TransformationParameters& parameters) const;
00063                 virtual TransformationParameters correctParameters(const TransformationParameters& parameters) const;
00064         };
00065 
00066         struct PureTranslation : public Transformation
00067         {
00068                 inline static const std::string description()
00069                 {
00070                         return "Pure translation transformation\nA rigid transformation with no rotation.";
00071                 }
00072 
00073                 virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
00074                 virtual bool checkParameters(const TransformationParameters& parameters) const;
00075                 virtual TransformationParameters correctParameters(const TransformationParameters& parameters) const;
00076         };
00077 
00078 }; // TransformationsImpl
00079 
00080 #endif // __POINTMATCHER_TRANSFORMATION_H


libpointmatcher
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autogenerated on Mon Sep 14 2015 02:59:06