17 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_ 18 #define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_ 46 #include "cartographer/mapping/proto/scan_matching/real_time_correlative_scan_matcher_options.pb.h" 50 namespace scan_matching {
56 const proto::RealTimeCorrelativeScanMatcherOptions& options);
77 const std::vector<DiscreteScan2D>& discrete_scans,
79 std::vector<Candidate2D>* candidates)
const;
85 const proto::RealTimeCorrelativeScanMatcherOptions
options_;
92 #endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_ void ScoreCandidates(const ProbabilityGrid &probability_grid, const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters, std::vector< Candidate2D > *candidates) const
std::vector< Candidate2D > GenerateExhaustiveSearchCandidates(const SearchParameters &search_parameters) const
RealTimeCorrelativeScanMatcher2D & operator=(const RealTimeCorrelativeScanMatcher2D &)=delete
RealTimeCorrelativeScanMatcher2D(const proto::RealTimeCorrelativeScanMatcherOptions &options)
const proto::RealTimeCorrelativeScanMatcherOptions options_
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