68 lines
1.8 KiB
Text
68 lines
1.8 KiB
Text
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/** @file
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* @brief Implementation of the virtual functor for a loop closing algorithm
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* @author Jochen Sprickerhof
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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 __LOOPSLAM6D_H__
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#define __LOOPSLAM6D_H__
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#include <vector>
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using std::vector;
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#include "icp6D.h"
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#include "icp6Dminimizer.h"
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#include "scan.h"
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#include "graph.h"
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class loopSlam6D {
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public:
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/**
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* Constructor
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* @param _quiet suppress informative output
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* @param my_icp6Dminimizer the used ICP algorithm
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* @param mdm maximal distance match for ICP
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* @param max_num_iterations Maximal number of iterations for ICP
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* @param rnd randomized point selection for ICP
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* @param eP Extrapolate odometry
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* @param anim animate scan matching
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* @param epsilonICP the ICP epsilon
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* @param nns_method the k-d tree search
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*/
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loopSlam6D(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, int rnd, bool eP, int anim, double epsilonICP, int nns_method)
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{
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this->quiet = _quiet;
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this->my_icp6D = new icp6D(my_icp6Dminimizer, mdm, max_num_iterations,
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quiet, false, rnd, eP, anim, epsilonICP, nns_method);
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};
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/**
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* Destructor
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*/
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virtual ~loopSlam6D() {
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delete my_icp6D;
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};
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/**
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* virtual loop closing function
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* @param allScans all laser scans
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* @param first index of first laser scan in the loop
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* @param last indes of last laser scan in the loop
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* @param g graph for loop optimization
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*/
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virtual void close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g) = 0;
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protected:
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bool quiet;
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/**
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* pointer to the ICP framework
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*/
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icp6D *my_icp6D;
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};
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#endif
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