PointMatcher< T >::TransformationChecker Struct Reference

A transformation checker can stop the iteration depending on some conditions. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::TransformationChecker:

Public Member Functions
	TransformationChecker ()
	Construct without parameter.
	TransformationChecker (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with parameters.
virtual	~TransformationChecker ()
	Destructor.
virtual void	init (const TransformationParameters &parameters, bool &iterate)=0
	Init, set iterate to false if iteration should stop.
virtual void	check (const TransformationParameters &parameters, 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.
Public Member Functions inherited from PointMatcherSupport::Parametrizable
	Parametrizable ()
	Construct a documentation of parameters from a description in the source. More...
	Parametrizable (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with documented parameters.
virtual	~Parametrizable ()
	Virtual destructor, do nothing.
std::string	getParamValueString (const std::string &paramName)
	Get the value of a parameter, as a string.
template<typename S >
S	get (const std::string &paramName)
	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 &parameters)
	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
Public Types inherited from PointMatcherSupport::Parametrizable
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.
Static Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
static bool	Comp (std::string a, std::string b)
	Return whether a < b, lexically casted to S.
Public Attributes inherited from PointMatcherSupport::Parametrizable
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

Detailed Description

template<typename T>
struct PointMatcher< T >::TransformationChecker

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.

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

• PointMatcher.h
• TransformationChecker.cpp