Class RealTimeCorrelativeScanMatcher2D

Defined in File real_time_correlative_scan_matcher_2d.h

Class Documentation

class RealTimeCorrelativeScanMatcher2D

Public Functions

explicit RealTimeCorrelativeScanMatcher2D(const proto::RealTimeCorrelativeScanMatcherOptions &options)

RealTimeCorrelativeScanMatcher2D(const RealTimeCorrelativeScanMatcher2D&) = delete

RealTimeCorrelativeScanMatcher2D &operator=(const RealTimeCorrelativeScanMatcher2D&) = delete

double Match(const transform::Rigid2d &initial_pose_estimate, const sensor::PointCloud &point_cloud, const Grid2D &grid, transform::Rigid2d *pose_estimate) const

void ScoreCandidates(const Grid2D &grid, const std::vector<DiscreteScan2D> &discrete_scans, const SearchParameters &search_parameters, std::vector<Candidate2D> *candidates) const