3dpcp/include/slam6d/icp6Dquatscale.h

30 lines
822 B
C
Raw Normal View History

2012-09-16 12:33:11 +00:00
/** @file
* @brief Definition of the ICP error function minimization
* @author Flavia Grosan, Alex Tandrau. Jacobs University Bremen gGmbH, Germany.
* @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany.
*/
#ifndef __ICP6DQUATSCALE_H__
#define __ICP6DQUATSCALE_H__
#include "icp6Dquat.h"
/**
* @brief Implementation of the ICP error function minimization via quaternions
*/
class icp6D_QUAT_SCALE : public icp6D_QUAT
{
public:
/** constructor */
icp6D_QUAT_SCALE(bool quiet = false) : icp6D_QUAT(quiet) {};
/** destructor */
virtual ~icp6D_QUAT_SCALE() {};
double Point_Point_Align(const vector<PtPair>& Pairs, double *alignxf,
const double centroid_m[3], const double centroid_d[3]);
inline int getAlgorithmID() { return 9; };
};
#endif