libpointmatcher
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A transformation checker can stop the iteration depending on some conditions. More...
#include <PointMatcher.h>
Public Member Functions | |
TransformationChecker () | |
Construct without parameter. | |
TransformationChecker (const std::string &className, const ParametersDoc paramsDoc, const Parameters ¶ms) | |
Construct with parameters. | |
virtual | ~TransformationChecker () |
Destructor. | |
virtual void | init (const TransformationParameters ¶meters, bool &iterate)=0 |
Init, set iterate to false if iteration should stop. | |
virtual void | check (const TransformationParameters ¶meters, bool &iterate)=0 |
Set iterate to false if iteration should stop. | |
const Vector & | getLimits () const |
Return the value of limits involved in conditions to stop ICP loop. | |
const Vector & | getConditionVariables () const |
Return the values of variables involved in conditions to stop ICP loop. | |
const StringVector & | getLimitNames () const |
Return the names of limits involved in conditions to stop ICP loop. | |
const StringVector & | getConditionVariableNames () const |
Return the names of variables involved in conditions to stop ICP loop. | |
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Parametrizable () | |
Construct a documentation of parameters from a description in the source. More... | |
Parametrizable (const std::string &className, const ParametersDoc paramsDoc, const Parameters ¶ms) | |
Construct with documented parameters. | |
virtual | ~Parametrizable () |
Virtual destructor, do nothing. | |
std::string | getParamValueString (const std::string ¶mName) |
Get the value of a parameter, as a string. | |
template<typename S > | |
S | get (const std::string ¶mName) |
Return the value of paramName, lexically-casted to S. | |
Protected Types | |
typedef std::vector< std::string > | StringVector |
a vector of strings | |
Static Protected Member Functions | |
static Vector | matrixToAngles (const TransformationParameters ¶meters) |
Extract the Euler angles from a rigid-transformation matrix. | |
Protected Attributes | |
Vector | limits |
values of limits involved in conditions to stop ICP loop | |
Vector | conditionVariables |
values of variables involved in conditions to stop ICP loop | |
StringVector | limitNames |
names of limits involved in conditions to stop ICP loop | |
StringVector | conditionVariableNames |
names of variables involved in conditions to stop ICP loop | |
Additional Inherited Members | |
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typedef bool(* | LexicalComparison )(std::string a, std::string b) |
A function that returns whether a is smaller than b. | |
typedef std::vector< ParameterDoc > | ParametersDoc |
The documentation of all parameters. | |
typedef std::string | Parameter |
alias | |
typedef std::map< std::string, Parameter > | Parameters |
Parameters stored as a map of string->string. | |
typedef std::set< std::string > | ParametersUsed |
Parameters whose value has been read. | |
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template<typename S > | |
static bool | Comp (std::string a, std::string b) |
Return whether a < b, lexically casted to S. | |
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const std::string | className |
name of the class | |
const ParametersDoc | parametersDoc |
documentation of parameters | |
Parameters | parameters |
parameters with their values encoded in string | |
ParametersUsed | parametersUsed |
parameters whose value has actually been read | |
A transformation checker can stop the iteration depending on some conditions.
For example, a condition can be the number of times the loop was executed, or it can be related to the matching error. Because the modules can be chained, we defined that the relation between modules must agree through an OR-condition, while all AND-conditions are defined within a single module.