Point Cloud Library (PCL)
1.11.1-dev
pcl
registration
graph_optimizer.h
1
/*
2
* Software License Agreement (BSD License)
3
*
4
* Point Cloud Library (PCL) - www.pointclouds.org
5
* Copyright (c) 2011, Willow Garage, Inc.
6
* Copyright (c) 2012-, Open Perception, Inc.
7
*
8
* All rights reserved.
9
*
10
* Redistribution and use in source and binary forms, with or without
11
* modification, are permitted provided that the following conditions
12
* are met:
13
*
14
* * Redistributions of source code must retain the above copyright
15
* notice, this list of conditions and the following disclaimer.
16
* * Redistributions in binary form must reproduce the above
17
* copyright notice, this list of conditions and the following
18
* disclaimer in the documentation and/or other materials provided
19
* with the distribution.
20
* * Neither the name of the copyright holder(s) nor the names of its
21
* contributors may be used to endorse or promote products derived
22
* from this software without specific prior written permission.
23
*
24
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35
* POSSIBILITY OF SUCH DAMAGE.
36
*
37
* $Id$
38
*
39
*/
40
41
#pragma once
42
43
#include <pcl/registration/graph_handler.h>
44
45
namespace
pcl
{
46
namespace
registration {
47
/** \brief @b GraphOptimizer class; derive and specialize for each graph type
48
* \author Nicola Fioraio
49
* \ingroup registration
50
*/
51
template
<
typename
GraphT>
52
class
GraphOptimizer
{
53
public
:
54
/** \brief Optimize the given graph
55
* \param inout_graph the graph
56
* \return false if the optimization has not been performed
57
*/
58
virtual
inline
bool
59
optimize
(
GraphHandler<GraphT>
& inout_graph) = 0;
60
61
/** \brief Empty destructor */
62
virtual
~GraphOptimizer
() {}
63
};
64
}
// namespace registration
65
}
// namespace pcl
pcl
Definition:
convolution.h:46
pcl::registration::GraphOptimizer
GraphOptimizer class; derive and specialize for each graph type
Definition:
graph_optimizer.h:52
pcl::registration::GraphHandler
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the foll...
Definition:
graph_handler.h:85
pcl::registration::GraphOptimizer::~GraphOptimizer
virtual ~GraphOptimizer()
Empty destructor.
Definition:
graph_optimizer.h:62
pcl::registration::GraphOptimizer::optimize
virtual bool optimize(GraphHandler< GraphT > &inout_graph)=0
Optimize the given graph.