Update docs

docs/annotated.html

@@ -79,12 +79,13 @@
 <div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
 <div class="levels">[detail level <span onclick="javascript:dynsection.toggleLevel(1);">1</span><span onclick="javascript:dynsection.toggleLevel(2);">2</span><span onclick="javascript:dynsection.toggleLevel(3);">3</span>]</div><table class="directory">
 <tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="dynsection.toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceicp.html" target="_self">icp</a></td><td class="desc"></td></tr>
-<tr id="row_0_0_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_0_" class="arrow" onclick="dynsection.toggleFolder('0_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classicp_1_1_i_c_p.html" target="_self">ICP</a></td><td class="desc">Interface for iterative closest points; please read the Detailed Description for usage information </td></tr>
-<tr id="row_0_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structicp_1_1_i_c_p_1_1_convergence_report.html" target="_self">ConvergenceReport</a></td><td class="desc"></td></tr>
-<tr id="row_0_1_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structicp_1_1_methods.html" target="_self">Methods</a></td><td class="desc"></td></tr>
-<tr id="row_0_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structicp_1_1_r_b_transform.html" target="_self">RBTransform</a></td><td class="desc">Rigid-body transformation </td></tr>
-<tr id="row_1_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_k_d_tree.html" target="_self">KDTree</a></td><td class="desc"></td></tr>
-<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_lidar_view.html" target="_self">LidarView</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_0_" class="arrow" onclick="dynsection.toggleFolder('0_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classicp_1_1_i_c_p.html" target="_self">ICP</a></td><td class="desc">Interface for iterative closest points </td></tr>
+<tr id="row_0_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classicp_1_1_i_c_p_1_1_config.html" target="_self">Config</a></td><td class="desc">Configuration for <a class="el" href="classicp_1_1_i_c_p.html" title="Interface for iterative closest points.">ICP</a> instances </td></tr>
+<tr id="row_0_0_1_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structicp_1_1_i_c_p_1_1_convergence_report.html" target="_self">ConvergenceReport</a></td><td class="desc">The result of running <code><a class="el" href="classicp_1_1_i_c_p.html#a80a0f5b00b3b9bf1403fdafec96705e6" title="Perform ICP for the point clouds a and b provided with ICP::begin until the cost is below convergence...">ICP::converge</a></code> </td></tr>
+<tr id="row_0_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structicp_1_1_methods.html" target="_self">Methods</a></td><td class="desc"></td></tr>
+<tr id="row_0_2_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structicp_1_1_r_b_transform.html" target="_self">RBTransform</a></td><td class="desc">Rigid-body transformation </td></tr>
+<tr id="row_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_k_d_tree.html" target="_self">KDTree</a></td><td class="desc"></td></tr>
+<tr id="row_2_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_lidar_view.html" target="_self">LidarView</a></td><td class="desc"></td></tr>
 </table>
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docs/classes.html

@@ -80,7 +80,7 @@
 <div class="classindex">
 <dl class="classindex even">
 <dt class="alphachar"><a id="letter_C" name="letter_C">C</a></dt>
-<dd><a class="el" href="structicp_1_1_i_c_p_1_1_convergence_report.html">ICP::ConvergenceReport</a> (<a class="el" href="namespaceicp.html">icp</a>)</dd></dl>
+<dd><a class="el" href="classicp_1_1_i_c_p_1_1_config.html">ICP::Config</a> (<a class="el" href="namespaceicp.html">icp</a>)</dd><dd><a class="el" href="structicp_1_1_i_c_p_1_1_convergence_report.html">ICP::ConvergenceReport</a> (<a class="el" href="namespaceicp.html">icp</a>)</dd></dl>
 <dl class="classindex odd">
 <dt class="alphachar"><a id="letter_I" name="letter_I">I</a></dt>
 <dd><a class="el" href="classicp_1_1_i_c_p.html">ICP</a> (<a class="el" href="namespaceicp.html">icp</a>)</dd></dl>

docs/classicp_1_1_i_c_p-members.html

@@ -93,18 +93,17 @@
   <tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a8187f14a280850840917e85240d5e222">current_cost</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#ac7d60a8302ef88190a30280a343194aa">current_transform</a>() const</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"></td></tr>
   <tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a8f23e15bf17704f88a0a258a0addc2ad">dist</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#ad8075cc05cb50c4eb6cd69cd90f6b639">from_method</a>(std::string name)</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a4147f2e116fe41bd31f37b6e23829485">from_method</a>(std::string name, const Config &amp;params=Config())</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
   <tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a6ee9bfb8de098c6d7e6041626e49b05a">ICP</a>()</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#aff3398f6b1cc6651d0c085ced4cb8db1">is_registered_method</a>(std::string name)</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
   <tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#acd7dcd1dc9f2ff7de6751d62d1e792ac">iterate</a>()=0</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#af573c4350a91a821cfa6e6d37cf446a9">pair</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a27d1d41afc1f064cc278c13720dca476">previous_cost</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a878302998f8be12f56b5ec9dc51f80a1">register_method</a>(std::string name, std::function&lt; std::unique_ptr&lt; ICP &gt;(void)&gt; constructor)</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a03f61570fc4fc8feef9a851baa166cb9">register_method</a>(std::string name, std::function&lt; std::unique_ptr&lt; ICP &gt;(const Config &amp;)&gt; constructor)</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
   <tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a9933256313a70fedacd7d3d7c8fa63c3">registered_methods</a>()</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a32996eafad2cbc1ecc1361536abdfe68">setup</a>()</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
   <tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a47adf7aba7ca4afbdd308abaa4613bb1">transform</a></td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a74f7a197dbc1258c2d08f95311f23b40">trim</a>(const std::vector&lt; Vector &gt; &amp;a, const std::vector&lt; Vector &gt; &amp;b)</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a98484780f08694a2bc37fcc3fd86bd4f">~ICP</a>()=default</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html#a98484780f08694a2bc37fcc3fd86bd4f">~ICP</a>()=default</td><td class="entry"><a class="el" href="classicp_1_1_i_c_p.html">icp::ICP</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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