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| <title>scan matching: an ICP Implementation</title> | ||
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| <div id="projectbrief">ICP algorithm library</div> | ||
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| <div class="headertitle"><div class="title">an ICP Implementation</div></div> | ||
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| <div class="textblock"><p>An ICP implementation should reside in a single C++ source file, e.g., <code>my_icp.cpp</code>. You should declare a <code>final</code> class named <code>MyICP</code> that inherits <code>public <a class="el" href="classicp_1_1_i_c_p.html" title="Interface for iterative closest points; please read the Detailed Description for usage information.">icp::ICP</a></code> that must provide the following functionality:</p> | ||
| <ul> | ||
| <li><code>MyICP()</code></li> | ||
| <li><code>~MyICP() override</code></li> | ||
| <li><code>void iterate() override</code></li> | ||
| </ul> | ||
| <p>You may optionally override the following methods:</p> | ||
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| <li><code>setup() override</code></li> | ||
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| <p>Finally, define the following static variable:</p> | ||
| <div class="fragment"><div class="line"> ++</div> | ||
| <div class="line"><span class="keyword">static</span> <span class="keywordtype">bool</span> static_initialization = []() {</div> | ||
| <div class="line"> assert(ICP::register_method(<span class="stringliteral">"my_icp"</span>, []() -> std::unique_ptr<ICP> {</div> | ||
| <div class="line"> <span class="keywordflow">return</span> std::make_unique<MyICP>();</div> | ||
| <div class="line"> }));</div> | ||
| <div class="line"> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div> | ||
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