MipAlgorithms::ProbMultiReg Class Reference
[Multiple registration]

generic class for multiple registration algorithm between Observations More...

#include <ProbMultiReg.h>

List of all members.

Public Member Functions
	ProbMultiReg ()
	Null constructor.
	ProbMultiReg (ProbMultiRegPar p)
	Parameter constructor.
	ProbMultiReg (ProbMultiRegPar p, BiRegPar pa)
	Complete constructor.
	ProbMultiReg (ProbMultiRegPar p, BiRegPar pa, BiRegType bType)
	Complete constructor.
	~ProbMultiReg ()
	Destructor.
void	registration (vector< Observation > observ, MultiRegSol *mrsols, int localizator=0)
	Registration method.
void	verboseOn ()
	Activate debug mode.
void	verboseOff ()
	Deactivate debug mode.
void	setLikelihood (vector< int > &ids, map< int, vector< Pose > > *lik)
	Sets the likelihood of a robot.
void	leastMeanSquare (Observation obs0, Observation obs1, BiRegOut *sol)
Public Attributes
ProbMultiRegPar	par
	Parameters of class ProbMultiReg.
BiReg *	biReg
	Pointer to the binary registration class, needed from the multiple registration algorithm .

---

Detailed Description

generic class for multiple registration algorithm between Observations

Author:

Paolo Stegagno

---

Constructor & Destructor Documentation

MipAlgorithms::ProbMultiReg::ProbMultiReg

(

)

Null constructor.

MipAlgorithms::ProbMultiReg::ProbMultiReg

(

ProbMultiRegPar

p

)

Parameter constructor.

MipAlgorithms::ProbMultiReg::ProbMultiReg	(	ProbMultiRegPar	p,
		BiRegPar	pa
	)

Complete constructor.

MipAlgorithms::ProbMultiReg::ProbMultiReg	(	ProbMultiRegPar	p,
		BiRegPar	pa,
		BiRegType	bType
	)

Complete constructor.

MipAlgorithms::ProbMultiReg::~ProbMultiReg

(

)

Destructor.

---

Member Function Documentation

void MipAlgorithms::ProbMultiReg::registration	(	vector< Observation >	observ,
		MultiRegSol *	mrsols,
		int	localizator = 0
	)

Registration method.

Parameters:

	observ	vector of Observation containing the Observations to be registered
	mrsols	pointer to MultiRegSol in which solutiohn are written
	localizator	Observation in respect of wich must be executed the registration; default = 0

void MipAlgorithms::ProbMultiReg::verboseOn

(

)

[inline]

Activate debug mode.

void MipAlgorithms::ProbMultiReg::verboseOff

(

)

[inline]

Deactivate debug mode.

void MipAlgorithms::ProbMultiReg::setLikelihood	(	vector< int > &	ids,
		map< int, vector< Pose > > *	lik
	)

Sets the likelihood of a robot.

Parameters:

	ids	Ids of the robots to which the likelihoods are refered.
	lik	Pointer to the map of int-vector<Pose> to be set as likelihood.

Note:

For efficency, this methods do not copy the map, but only its pointer. Be sure not to delete tha map before its use.

void MipAlgorithms::ProbMultiReg::leastMeanSquare	(	Observation	obs0,
		Observation	obs1,
		BiRegOut *	sol
	)

funzione che implementa l'ottimizzazione ai minimi quadrati per il problema di registrazione tra due observation

Parameters:

	obs0	observation da rototraslare
	obs1	observation di base
	sol	puntatore alla soluzione di ransac che contiene i numeri degli inliers da utilizzare

---

Member Data Documentation

ProbMultiRegPar MipAlgorithms::ProbMultiReg::par

Parameters of class ProbMultiReg.

BiReg* MipAlgorithms::ProbMultiReg::biReg

Pointer to the binary registration class, needed from the multiple registration algorithm .

---

The documentation for this class was generated from the following files:

• algorithms/MultiReg/ProbMultiReg.h
• algorithms/MultiReg/ProbMultiReg.cpp