MipResources::ExternScanMatch Class Reference
[External scan matcher]

Makes available the use of scan mathching algorithm which runs on external executables (like csm). More...

#include <ExternScanMatch.h>

Inheritance diagram for MipResources::ExternScanMatch:

List of all members.

Public Member Functions
	ExternScanMatch (int argc, const char *argv[])
	Constructor.
	~ExternScanMatch ()
	Destructor.
ResourcePlate	getPlate () const
	Gets plate.
void	execute (Scan *fS, Pose *fP, Scan *sS, Pose *sP)
	Asks to do a scan matching.
bool	getResult (Pose &result, bool &valid)
	Asks to do a scan matching.
void	extSMWork ()
	This method must not be used. Forget about it.

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Detailed Description

Makes available the use of scan mathching algorithm which runs on external executables (like csm).

The available options are:

• externScanMatchAlgorithm: external algorithm to use as scan mather (only 'csm' is implemented now)
• externScanMatchCsmUseCorrTricks: sets the csm-parameter use_corr_tricks, 0 (default) or 1)
• externScanMatchCsmMaxLinearCorrection: sets the csm-parameter max_linear_correction, 0.3 (default)
• externScanMatchCsmMaxAngularCorrection: sets the csm-parameter max_angular_correction_deg, 20.0 (default)
• externScanMatchDebugLevel: custom debug level of the External Scan matching resource, 0 (default)

Author:

Antonio Franchi and Paolo Stegagno

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Constructor & Destructor Documentation

MipResources::ExternScanMatch::ExternScanMatch	(	int	argc,
		const char *	argv[]
	)

Constructor.

MipResources::ExternScanMatch::~ExternScanMatch

(

)

Destructor.

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Member Function Documentation

ResourcePlate MipResources::ExternScanMatch::getPlate

(

)

const [inline, virtual]

Gets plate.

Implements MipResources::Resource.

void MipResources::ExternScanMatch::execute	(	Scan *	fS,
		Pose *	fP,
		Scan *	sS,
		Pose *	sP
	)

Asks to do a scan matching.

Parameters:

	firstScan	First scan.
	firstPose	First pose.
	secondScan	Second scan.
	secondPose	Second pose.

bool MipResources::ExternScanMatch::getResult	(	Pose &	result,
		bool &	valid
	)

Asks to do a scan matching.

Returns:

True if the result is stored in the pair 'result','valid', false if the result is not ready, yet.

Parameters:

[out]	&result	The result, if return is true, it is valid only if 'valid' is true.
[out]	&valid	True if the result is valid', false if is not.

void MipResources::ExternScanMatch::extSMWork

(

)

This method must not be used. Forget about it.

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

• resources/ExternScanMatch/ExternScanMatch.h
• resources/ExternScanMatch/ExternScanMatch.cpp