62 lines
1.7 KiB
Text
62 lines
1.7 KiB
Text
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/** @file
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* @brief The 6D Lu Milios style SLAM in 6D
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*
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* @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#ifndef __LUM6D_QUAT_H__
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#define __LUM6D_QUAT_H__
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#include <vector>
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using std::vector;
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#include "graphSlam6D.h"
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#include "newmat/newmatio.h"
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typedef vector <PtPair> vPtPair; ///< just a typedef: vPtPair = vector of type PtPair
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/*
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* @brief Representation of 3D scan matching with Lu/Milios in 6D.
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*
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* Reference: D. Borrmann, et al., Globally consistent 3D mapping
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* with scan matching, Journal of Robotics and Autonomous
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* Systems (2007),
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*/
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class lum6DQuat : public graphSlam6D {
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public:
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/**
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* Constructor (default)
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*/
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lum6DQuat() {};
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lum6DQuat(icp6Dminimizer *my_icp6Dminimizer,
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double mdm = 25.0,
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double max_dist_match = 25.0,
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int max_num_iterations = 50,
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bool quiet = false,
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bool meta = false,
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int rnd = 1,
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bool eP = true,
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int anim = -1,
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double epsilonICP = 0.0000001,
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int nns_method = simpleKD,
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double epsilonLUM = 0.5);
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virtual ~lum6DQuat();
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double doGraphSlam6D(Graph gr, vector <Scan*> MetaScan, int nrIt);
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static void covarianceQuat(Scan *first, Scan *second, int nns_method,
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int rnd, double max_dist_match2, NEWMAT::Matrix *C, NEWMAT::ColumnVector *CD=0);
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private:
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void FillGB3D(Graph *gr, NEWMAT::Matrix* G, NEWMAT::ColumnVector* B, vector<Scan*> allScans);
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};
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#endif
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