Collaboration diagram for mrob::CreatePoints:

Public Member Functions
	CreatePoints (uint_t N=10, uint_t numberPlanes=4, uint_t numberPoses=2, double noisePerPoint=0.01, double noiseBias=0.1, const SE3 &initial_pose=SE3())

void	create_plane_registration (PlaneRegistration &planeReg)

std::vector< Mat31 > &	get_point_cloud (uint_t t)

std::vector< uint_t > &	get_point_plane_ids (uint_t t)

uint_t	get_number_planes () const

uint_t	get_number_poses () const

std::vector< SE3 > &	get_ground_truth_trajectory ()

SE3	get_ground_truth_last_pose ()

SE3	get_ground_truth_pose (uint_t i)

std::vector< SE3 > &	get_plane_poses ()

std::vector< std::pair< uint_t, std::shared_ptr< Plane > > > &	get_all_planes ()

std::vector< Mat41 > &	get_plane_states ()

void	print () const

Protected Attributes
uint_t	numberPoints_

uint_t	numberPlanes_

double	noisePerPoint_

double	noiseBias_

double	rotationRange_

double	transRange_

double	lamdaOutlier_

SampleUniformSE3	samplePoses_

SampleUniformSE3	samplePlanes_

SamplePlanarSurface	samplePoints_

std::vector< std::vector< Mat31 > >	X_

std::vector< std::vector< uint_t > >	pointId_

double	xRange_

double	yRange_

SE3	initialPose_

std::vector< SE3 >	goundTruthTrajectory_

uint_t	numberPoses_

std::vector< SE3 >	planePoses_

std::vector< Mat41 >	plane_states_

std::vector< std::pair< uint_t, std::shared_ptr< Plane > > >	planes_

Detailed Description

Class generating a sequence of pointClouds given some specifications.

Constructor & Destructor Documentation

Creates a class

void CreatePoints::create_plane_registration ( PlaneRegistration & planeReg )

Fill the PlaneRegistration class with planes calculated here (reset) and a new initial trajectory set to I's

This function should be deprecated after PlaneResgitration is no longer used. Instead, we directly access point here and create a FGraph

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