17 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_ 18 #define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_ 24 #include "cartographer/mapping/proto/scan_matching/real_time_correlative_scan_matcher_options.pb.h" 29 namespace scan_matching {
36 const scan_matching::proto::RealTimeCorrelativeScanMatcherOptions&
59 const proto::RealTimeCorrelativeScanMatcherOptions
options_;
66 #endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_ float Match(const transform::Rigid3d &initial_pose_estimate, const sensor::PointCloud &point_cloud, const HybridGrid &hybrid_grid, transform::Rigid3d *pose_estimate) const
float ScoreCandidate(const HybridGrid &hybrid_grid, const sensor::PointCloud &transformed_point_cloud, const transform::Rigid3f &transform) const
const proto::RealTimeCorrelativeScanMatcherOptions options_
RealTimeCorrelativeScanMatcher3D(const scan_matching::proto::RealTimeCorrelativeScanMatcherOptions &options)
RealTimeCorrelativeScanMatcher3D & operator=(const RealTimeCorrelativeScanMatcher3D &)=delete
std::vector< Eigen::Vector3f > PointCloud
std::vector< transform::Rigid3f > GenerateExhaustiveSearchTransforms(float resolution, const sensor::PointCloud &point_cloud) const