From 5988a03571687650662795d7daf28d9f29fdaf77 Mon Sep 17 00:00:00 2001 From: Ethan Uppal <113849268+ethanuppal@users.noreply.github.com> Date: Tue, 30 Apr 2024 15:33:05 -0400 Subject: [PATCH] Update docs --- docs/_writing.html | 32 +++++++++++++-------- docs/classicp_1_1_i_c_p.html | 2 +- docs/icp_8cpp_source.html | 10 +++---- docs/icp_8h_source.html | 50 ++++++++++++++++----------------- docs/pages.html | 2 +- docs/search/all_0.js | 2 +- docs/search/all_6.js | 4 +-- docs/search/pages_0.js | 2 +- docs/search/pages_1.js | 4 +-- docs/structicp_1_1_methods.html | 6 ++-- 10 files changed, 61 insertions(+), 53 deletions(-) diff --git a/docs/_writing.html b/docs/_writing.html index 61f262b..4c33ea2 100644 --- a/docs/_writing.html +++ b/docs/_writing.html @@ -5,7 +5,7 @@ -scan matching: an ICP Implementation +scan matching: an ICP Instance @@ -73,29 +73,37 @@
-
an ICP Implementation
+
an ICP Instance
-

An ICP implementation should reside in a single C++ source file, e.g., my_icp.cpp. You should declare a final class named MyICP that inherits public icp::ICP that must provide the following functionality:

+

To write an ICP instance, create a C++ source file with at least the following:

+
    +
  1. A final class that inherits from public icp::ICP
    2. +
  2. A static initialization variable (described below)
    3. +
+

The class must define the following behavior:

    -
  • MyICP()
    • -
  • ~MyICP() override
    • +
  • A constructor that calls the icp::ICP constructor
    • +
  • An overridden destructor (which may do nothing)
  • void iterate() override
-

You may optionally override the following methods:

+

In iterate, the point clouds are given by the instance variables a and b. There are also pair and dist instance variables, each allocated to have size a.size(). At the end of iterate, the transform instance variable should have been updated (although the update may be zero).

+

Optionally, the class can override:

    -
  • setup() override
    • -
  • const std::vector<Vector>& a, const std::vector<Vector>& b) override
    • +
  • void setup() override
    • +
  • void trim(const std::vector<Vector>& a, const std::vector<Vector>& b) override
-

Finally, define the following static variable:

+

trim should initialize the instance variables a and b from the given point clouds a and b. The default behavior is to copy them over directly.

+

The static initialization is required so that users can instantiate your ICP instance. Define

++
static bool static_initialization = []() {
-
assert(ICP::register_method("my_icp", []() -> std::unique_ptr<ICP> {
-
return std::make_unique<MyICP>();
+
assert(ICP::register_method("name_of_instance", []() -> std::unique_ptr<ICP> {
+
return std::make_unique<NameOfClass>();
}));
return true;
}();
-
+

where "name_of_instance" is the name of your ICP implementation and NameOfClass is the name of the class.

+
diff --git a/docs/classicp_1_1_i_c_p.html b/docs/classicp_1_1_i_c_p.html index e95a555..abde475 100644 --- a/docs/classicp_1_1_i_c_p.html +++ b/docs/classicp_1_1_i_c_p.html @@ -315,7 +315,7 @@

Perform ICP for the point clouds a and b provided with ICP::begin until the cost is below convergence_threshold or until no progress is being made.

-

At least burn_in iterations will be performed.

+

At least burn_in iterations will be performed. Start with zero burn-in, and slowly increase if convergence requirements are not met.

Returns
Information about the convergence.

Definition at line 62 of file icp.cpp.

diff --git a/docs/icp_8cpp_source.html b/docs/icp_8cpp_source.html index d8135ba..428282b 100644 --- a/docs/icp_8cpp_source.html +++ b/docs/icp_8cpp_source.html @@ -118,7 +118,7 @@
28
29 // Set relative to centroid
30 a_cm = get_centroid(this->a);
-
31 b_cm = get_centroid(this->a);
+
31 b_cm = get_centroid(this->b);
32 for (Vector& point: this->a) {
33 point -= a_cm;
34 }
@@ -159,7 +159,7 @@
65
66 // Repeat until convergence
67 while (current_cost > convergence_threshold || current_cost == INFINITY
-
68 || result.iteration_count <= burn_in) {
+
68 || result.iteration_count < burn_in) {
69 // Store previous iteration results
70 previous_cost = current_cost;
71 RBTransform previous_transform = transform;
@@ -258,9 +258,9 @@
icp::Vector
Eigen::Vector2d Vector
Definition geo.h:15
icp::get_centroid
Vector get_centroid(const std::vector< Vector > &points)
Definition geo.cpp:10
- -
icp::Methods::registered_method_names
std::vector< std::string > registered_method_names
Definition icp.h:133
-
icp::Methods::registered_method_constructors
std::vector< std::function< std::unique_ptr< ICP >(void)> > registered_method_constructors
Definition icp.h:135
+ +
icp::Methods::registered_method_names
std::vector< std::string > registered_method_names
Definition icp.h:135
+
icp::Methods::registered_method_constructors
std::vector< std::function< std::unique_ptr< ICP >(void)> > registered_method_constructors
Definition icp.h:137
icp::RBTransform
Rigid-body transformation.
Definition geo.h:19
diff --git a/docs/icp_8h_source.html b/docs/icp_8h_source.html index 35d1ca5..7ab2f93 100644 --- a/docs/icp_8h_source.html +++ b/docs/icp_8h_source.html @@ -145,30 +145,30 @@
94
96 double calculate_cost() const;
97
-
105 ConvergenceReport converge(size_t burn_in,
-
106 double convergence_threshold);
-
107
-
109 const RBTransform& current_transform() const;
-
110
-
113 static bool register_method(std::string name,
-
114 std::function<std::unique_ptr<ICP>(void)> constructor);
-
115
-
118 static const std::vector<std::string>& registered_methods();
-
119
-
126 static std::unique_ptr<ICP> from_method(std::string name);
-
127
-
129 static bool is_registered_method(std::string name);
-
130 };
+
107 ConvergenceReport converge(size_t burn_in,
+
108 double convergence_threshold);
+
109
+
111 const RBTransform& current_transform() const;
+
112
+
115 static bool register_method(std::string name,
+
116 std::function<std::unique_ptr<ICP>(void)> constructor);
+
117
+
120 static const std::vector<std::string>& registered_methods();
+
121
+
128 static std::unique_ptr<ICP> from_method(std::string name);
+
129
+
131 static bool is_registered_method(std::string name);
+
132 };
-
131
-
-
132 struct Methods {
-
133 std::vector<std::string> registered_method_names;
-
134 std::vector<std::function<std::unique_ptr<ICP>(void)>>
-
135 registered_method_constructors;
-
136 };
+
133
+
+
134 struct Methods {
+
135 std::vector<std::string> registered_method_names;
+
136 std::vector<std::function<std::unique_ptr<ICP>(void)>>
+
137 registered_method_constructors;
+
138 };
-
137}
+
139}
icp::ICP
Interface for iterative closest points; please read the Detailed Description for usage information.
Definition icp.h:41
icp::ICP::previous_cost
double previous_cost
Keeps track of the previous cost to ensure that progress is being made.
Definition icp.h:60
icp::ICP::setup
virtual void setup()
Definition icp.cpp:14
@@ -198,9 +198,9 @@ - -
icp::Methods::registered_method_names
std::vector< std::string > registered_method_names
Definition icp.h:133
-
icp::Methods::registered_method_constructors
std::vector< std::function< std::unique_ptr< ICP >(void)> > registered_method_constructors
Definition icp.h:135
+ +
icp::Methods::registered_method_names
std::vector< std::string > registered_method_names
Definition icp.h:135
+
icp::Methods::registered_method_constructors
std::vector< std::function< std::unique_ptr< ICP >(void)> > registered_method_constructors
Definition icp.h:137
icp::RBTransform
Rigid-body transformation.
Definition geo.h:19
diff --git a/docs/pages.html b/docs/pages.html index d3fd974..0df3da1 100644 --- a/docs/pages.html +++ b/docs/pages.html @@ -79,7 +79,7 @@
Here is a list of all related documentation pages:
- +
 v1
 an ICP Implementation
 an ICP Instance
diff --git a/docs/search/all_0.js b/docs/search/all_0.js index 6d77005..9011763 100644 --- a/docs/search/all_0.js +++ b/docs/search/all_0.js @@ -2,7 +2,7 @@ var searchData= [ ['a_0',['a',['../classicp_1_1_i_c_p.html#a8fa6d4d0a46ee621097c821afe7e5985',1,'icp::ICP']]], ['a_5fcm_1',['a_cm',['../classicp_1_1_i_c_p.html#a7f34fb6c33262204472719180ead46d4',1,'icp::ICP']]], - ['an_20icp_20implementation_2',['an ICP Implementation',['../_writing.html',1,'']]], + ['an_20icp_20instance_2',['an ICP Instance',['../_writing.html',1,'']]], ['angle_5fdisplace_3',['angle_displace',['../namespacesim__config.html#a503be79f226cfe7e8c0e3d3de0ae6c1b',1,'sim_config']]], ['apply_5fto_4',['apply_to',['../structicp_1_1_r_b_transform.html#a82b8c5ad2e460a682434c539b19c9e63',1,'icp::RBTransform']]] ]; diff --git a/docs/search/all_6.js b/docs/search/all_6.js index f97c7d3..589cd99 100644 --- a/docs/search/all_6.js +++ b/docs/search/all_6.js @@ -3,11 +3,11 @@ var searchData= ['icp_0',['ICP',['../classicp_1_1_i_c_p.html',1,'icp']]], ['icp_1',['icp',['../namespaceicp.html',1,'']]], ['icp_2',['ICP',['../classicp_1_1_i_c_p.html#a6ee9bfb8de098c6d7e6041626e49b05a',1,'icp::ICP']]], - ['icp_20implementation_3',['an ICP Implementation',['../_writing.html',1,'']]], + ['icp_20instance_3',['an ICP Instance',['../_writing.html',1,'']]], ['icp_2ecpp_4',['icp.cpp',['../icp_8cpp.html',1,'']]], ['icp_2ed_5',['icp.d',['../icp_8d.html',1,'']]], ['icp_2eh_6',['icp.h',['../icp_8h.html',1,'']]], - ['implementation_7',['an ICP Implementation',['../_writing.html',1,'']]], + ['instance_7',['an ICP Instance',['../_writing.html',1,'']]], ['intercept_8',['intercept',['../namespacesim__config.html#ad5bbc78163c86a214c4ef95f83bc3279',1,'sim_config']]], ['introduction_9',['Introduction',['../index.html',1,'']]], ['is_5fregistered_5fmethod_10',['is_registered_method',['../classicp_1_1_i_c_p.html#aff3398f6b1cc6651d0c085ced4cb8db1',1,'icp::ICP']]], diff --git a/docs/search/pages_0.js b/docs/search/pages_0.js index 85222d2..baf7b6b 100644 --- a/docs/search/pages_0.js +++ b/docs/search/pages_0.js @@ -1,4 +1,4 @@ var searchData= [ - ['an_20icp_20implementation_0',['an ICP Implementation',['../_writing.html',1,'']]] + ['an_20icp_20instance_0',['an ICP Instance',['../_writing.html',1,'']]] ]; diff --git a/docs/search/pages_1.js b/docs/search/pages_1.js index 28ae950..7aab3e7 100644 --- a/docs/search/pages_1.js +++ b/docs/search/pages_1.js @@ -1,6 +1,6 @@ var searchData= [ - ['icp_20implementation_0',['an ICP Implementation',['../_writing.html',1,'']]], - ['implementation_1',['an ICP Implementation',['../_writing.html',1,'']]], + ['icp_20instance_0',['an ICP Instance',['../_writing.html',1,'']]], + ['instance_1',['an ICP Instance',['../_writing.html',1,'']]], ['introduction_2',['Introduction',['../index.html',1,'']]] ]; diff --git a/docs/structicp_1_1_methods.html b/docs/structicp_1_1_methods.html index 86938b0..7f4c1d4 100644 --- a/docs/structicp_1_1_methods.html +++ b/docs/structicp_1_1_methods.html @@ -95,7 +95,7 @@

Detailed Description

-

Definition at line 132 of file icp.h.

+

Definition at line 134 of file icp.h.

Member Data Documentation

◆ registered_method_constructors

@@ -109,7 +109,7 @@

-

Definition at line 135 of file icp.h.

+

Definition at line 137 of file icp.h.

@@ -125,7 +125,7 @@

-

Definition at line 133 of file icp.h.

+

Definition at line 135 of file icp.h.