62 lines
1.7 KiB
C
62 lines
1.7 KiB
C
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/**
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* @file TORO wrapper
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* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#ifndef __GRAPH_TORO_H__
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#define __GRAPH_TORO_H__
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#include "graphSlam6D.h"
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class graphToro : 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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graphToro() {};
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/**
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* Constructor
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*
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* @param my_icp6Dminimizer Pointer to ICP minimization functor
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* @param mdm Maximum PtoP distance to which point pairs are collected for ICP
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* @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM
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* @param max_num_iterations Maximal number of iterations for ICP
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* @param quiet Suspesses all output to std out
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* @param meta Indicates if metascan matching has to be used
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* @param rnd Indicates if randomization has to be used
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* @param eP Extrapolate odometry?
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* @param anim Animate which frames?
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* @param epsilonICP Termination criterion for ICP
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* @param nns_method Which nearest neigbor search method shall we use
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* @param epsilonLUM Termination criterion for LUM
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*/
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graphToro(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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: graphSlam6D(my_icp6Dminimizer,
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mdm, max_dist_match,
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max_num_iterations, quiet, meta, rnd,
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eP, anim, epsilonICP, nns_method, epsilonLUM)
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{ }
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virtual ~graphToro()
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{
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delete my_icp;
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}
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double doGraphSlam6D(Graph gr, vector <Scan*> MetaScan, int nrIt);
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};
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#endif
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