iLab Neuromorphic Robotics Toolkit  0.1
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ConvergenceCriteriaBase.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
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12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
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15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
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23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
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33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef NRT_POINTCLOUD2_REGISTRATION_CONVERGENCE_CONVERGENCECRITERIABASE_H_
37 #define NRT_POINTCLOUD2_REGISTRATION_CONVERGENCE_CONVERGENCECRITERIABASE_H_
38 
39 #include <memory>
40 
43 
44 namespace nrt
45 {
46  class ConvergenceCriteriaBase
47  {
48  typedef PointCloud2::AffineTransform AffineTransform;
49 
50  public:
51  //! Convenience typedef for shared ptr to this
52  typedef std::shared_ptr<ConvergenceCriteriaBase> SharedPtr;
53 
54  //! Virtual destruction
55  virtual ~ConvergenceCriteriaBase() {}
56 
57  //! Check whether we have converged
58  /*! @param[in] iteration Reference to the current iteration of the optimization
59  @param[in] transform Reference to the current transform
60  @param[in] corresondences The current set of correspondences
61  @return Whether convergence has been reached */
62  virtual bool converged( size_t const iteration, AffineTransform const & transform, Correspondences const correspondences ) = 0;
63 
64  //! Resets any internal state associated with determining convergence
65  virtual void reset() = 0;
66 
67  //! Gets the maximum number of iterations for convergence
68  virtual size_t maxIterations() const = 0;
69  };
70 
71 } //namespace nrt
72 
73 #endif // NRT_POINTCLOUD2_REGISTRATION_CONVERGENCE_CONVERGENCECRITERIABASE_H_
74 #endif // NRT_HAVE_CLOUD