TransformationsImpl.h

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/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

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#ifndef __POINTMATCHER_TRANSFORMATIONS_H
#define __POINTMATCHER_TRANSFORMATIONS_H

#include "PointMatcher.h"

template<typename T>
struct TransformationsImpl
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        
        typedef typename PointMatcher<T>::DataPoints DataPoints;
        typedef typename PointMatcher<T>::TransformationParameters TransformationParameters;
        typedef typename PointMatcher<T>::Transformation Transformation;
        
        struct RigidTransformation: public Transformation
        {
                inline static const std::string description()
                {
                        return "Rigid transformation.";
                }

                RigidTransformation() : Transformation("RigidTransformation",  ParametersDoc(), Parameters()) {}
                virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
                virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const;
                virtual bool checkParameters(const TransformationParameters& parameters) const;
                virtual TransformationParameters correctParameters(const TransformationParameters& parameters) const;
        };

        struct SimilarityTransformation: public Transformation
        {
                inline static const std::string description()
                {
                        return "Similarity transformation (rotation + translation + scale).";
                }
                
                SimilarityTransformation() : Transformation("SimilarityTransformation",  ParametersDoc(), Parameters()) {}
                virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
                virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const;
                virtual bool checkParameters(const TransformationParameters& parameters) const;
                virtual TransformationParameters correctParameters(const TransformationParameters& parameters) const;
        };

        struct PureTranslation : public Transformation
        {
                inline static const std::string description()
                {
                        return "Pure translation transformation\nA rigid transformation with no rotation.";
                }

                PureTranslation() : Transformation("PureTranslation",  ParametersDoc(), Parameters()) {}
                virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
                virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const;
                virtual bool checkParameters(const TransformationParameters& parameters) const;
                virtual TransformationParameters correctParameters(const TransformationParameters& parameters) const;
        };

}; // TransformationsImpl

#endif // __POINTMATCHER_TRANSFORMATION_H