3dpcp/include/slam6d/loopToro.h

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2012-09-16 12:33:11 +00:00
/**
* @file TORO wrapper
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#ifndef __LOOP_TORO_H__
#define __LOOP_TORO_H__
#include "loopSlam6D.h"
class loopToro : public loopSlam6D {
public:
loopToro(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations,
int rnd, bool eP, int anim, double epsilonICP, int nns_method)
: loopSlam6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {}
virtual void close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g);
};
#endif