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Public Member Functions | Protected Attributes | List of all members
Icp Class Referenceabstract

#include <icp.h>

Inheritance diagram for Icp:
IcpPointToPoint

Public Member Functions

 Icp (double *M, const int32_t M_num, const int32_t dim)
 
virtual ~Icp ()
 
void forceInstantResult (bool val)
 
void giveOutputIfNotConverged (bool val)
 
void setSubsamplingStep (int32_t val)
 
void setMaxIterations (int32_t val)
 
void setMinDeltaParam (double val)
 
void setEventTimeCheck (bool val)
 
double fit (double *T, const int32_t T_num, Matrix &R, Matrix &t, const double indist)
 
double getFitnessScore ()
 
double computeFitnessRMSE (const double *T, const Matrix &R, const Matrix &t)
 
double computeFitnessR2 (const double *T, const Matrix &R, const Matrix &t)
 
bool hasConverged ()
 
int32_t getInterations ()
 

Protected Attributes

kdtree::KDTree * M_tree
 
kdtree::KDTreeArray M_data
 
double * M_
 
int32_t dim
 
int32_t sub_step
 
int32_t max_iter
 
int32_t T_num
 
int32_t iterations
 
double min_delta
 
double current_delta
 
double euclidean_fitness
 
bool hasConvergedBool
 
bool checkEventTime
 
bool giveOutputIfNotConvergedB
 
bool instantForce
 

Detailed Description

Definition at line 33 of file icp.h.

Constructor & Destructor Documentation

◆ Icp()

Icp::Icp ( double *  M,
const int32_t  M_num,
const int32_t  dim 
)

◆ ~Icp()

virtual Icp::~Icp ( )
virtual

Member Function Documentation

◆ computeFitnessR2()

double Icp::computeFitnessR2 ( const double *  T,
const Matrix &  R,
const Matrix &  t 
)

Referenced by setEventTimeCheck().

◆ computeFitnessRMSE()

double Icp::computeFitnessRMSE ( const double *  T,
const Matrix &  R,
const Matrix &  t 
)

Referenced by setEventTimeCheck().

◆ fit()

double Icp::fit ( double *  T,
const int32_t  T_num,
Matrix &  R,
Matrix &  t,
const double  indist 
)

Referenced by setEventTimeCheck().

◆ forceInstantResult()

void Icp::forceInstantResult ( bool  val)
inline

Definition at line 46 of file icp.h.

References instantForce.

46 { instantForce = val; }
Icp::instantForce
bool instantForce
Definition: icp.h:106

◆ getFitnessScore()

double Icp::getFitnessScore ( )

Referenced by setEventTimeCheck().

◆ getInterations()

int32_t Icp::getInterations ( )
inline

Definition at line 77 of file icp.h.

References iterations.

77 { return iterations; }
Icp::iterations
int32_t iterations
Definition: icp.h:99

◆ giveOutputIfNotConverged()

void Icp::giveOutputIfNotConverged ( bool  val)
inline

Definition at line 49 of file icp.h.

References giveOutputIfNotConvergedB.

49 { giveOutputIfNotConvergedB = val; }
Icp::giveOutputIfNotConvergedB
bool giveOutputIfNotConvergedB
Definition: icp.h:105

◆ hasConverged()

bool Icp::hasConverged ( )
inline

Definition at line 76 of file icp.h.

References hasConvergedBool.

76 { return hasConvergedBool; }
Icp::hasConvergedBool
bool hasConvergedBool
Definition: icp.h:103

◆ setEventTimeCheck()

void Icp::setEventTimeCheck ( bool  val)
inline

Definition at line 60 of file icp.h.

References checkEventTime, computeFitnessR2(), computeFitnessRMSE(), fit(), getFitnessScore(), and T_num.

60 { checkEventTime = val; }
Icp::checkEventTime
bool checkEventTime
Definition: icp.h:104

◆ setMaxIterations()

void Icp::setMaxIterations ( int32_t  val)
inline

Definition at line 55 of file icp.h.

References max_iter.

55 { max_iter = val; }
Icp::max_iter
int32_t max_iter
Definition: icp.h:97

◆ setMinDeltaParam()

void Icp::setMinDeltaParam ( double  val)
inline

Definition at line 58 of file icp.h.

References min_delta.

58 { min_delta = val; }
Icp::min_delta
double min_delta
Definition: icp.h:100

◆ setSubsamplingStep()

void Icp::setSubsamplingStep ( int32_t  val)
inline

Definition at line 52 of file icp.h.

References sub_step.

52 { sub_step = val; }
Icp::sub_step
int32_t sub_step
Definition: icp.h:96

Member Data Documentation

◆ checkEventTime

bool Icp::checkEventTime
protected

Definition at line 104 of file icp.h.

Referenced by setEventTimeCheck().

◆ current_delta

double Icp::current_delta
protected

Definition at line 101 of file icp.h.

◆ dim

int32_t Icp::dim
protected

Definition at line 95 of file icp.h.

◆ euclidean_fitness

double Icp::euclidean_fitness
protected

Definition at line 102 of file icp.h.

◆ giveOutputIfNotConvergedB

bool Icp::giveOutputIfNotConvergedB
protected

Definition at line 105 of file icp.h.

Referenced by giveOutputIfNotConverged().

◆ hasConvergedBool

bool Icp::hasConvergedBool
protected

Definition at line 103 of file icp.h.

Referenced by hasConverged().

◆ instantForce

bool Icp::instantForce
protected

Definition at line 106 of file icp.h.

Referenced by forceInstantResult().

◆ iterations

int32_t Icp::iterations
protected

Definition at line 99 of file icp.h.

Referenced by getInterations().

◆ M_

double* Icp::M_
protected

Definition at line 93 of file icp.h.

◆ M_data

kdtree::KDTreeArray Icp::M_data
protected

Definition at line 92 of file icp.h.

◆ M_tree

kdtree::KDTree* Icp::M_tree
protected

Definition at line 91 of file icp.h.

◆ max_iter

int32_t Icp::max_iter
protected

Definition at line 97 of file icp.h.

Referenced by setMaxIterations().

◆ min_delta

double Icp::min_delta
protected

Definition at line 100 of file icp.h.

Referenced by setMinDeltaParam().

◆ sub_step

int32_t Icp::sub_step
protected

Definition at line 96 of file icp.h.

Referenced by setSubsamplingStep().

◆ T_num

int32_t Icp::T_num
protected

Definition at line 98 of file icp.h.

Referenced by setEventTimeCheck(), and IcpPointToPoint::~IcpPointToPoint().

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