3dpcp/.svn/pristine/f7/f7b117fab7a376fcbb178518f0a3a67ac6bc1cb0.svn-base
2012-09-16 14:33:11 +02:00

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