Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/registration/include/pcl/registration/convergence_criteria.h
00001 /*
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00039 
00040 #ifndef PCL_REGISTRATION_CONVERGENCE_CRIERIA_H_
00041 #define PCL_REGISTRATION_CONVERGENCE_CRIERIA_H_
00042 
00043 #include <pcl/pcl_macros.h>
00044 
00045 namespace pcl
00046 {
00047   namespace registration
00048   {
00049     /** \brief @b ConvergenceCriteria represents an abstract base class for
00050       * different convergence criteria used in registration loops.
00051       *
00052       * This should be used as part of an Iterative Closest Point (ICP)-like
00053       * method, to verify if the algorithm has reached convergence.
00054       *
00055       * Typical convergence criteria that could inherit from this include:
00056       * 
00057       *  * a maximum number of iterations has been reached
00058       *  * the transformation (R, t) cannot be further updated (the difference between current and previous is smaller than a threshold)
00059       *  * the Mean Squared Error (MSE) between the current set of correspondences and the previous one is smaller than some threshold
00060       *
00061       * \author Radu B. Rusu
00062       * \ingroup registration
00063       */
00064     class PCL_EXPORTS ConvergenceCriteria
00065     {
00066       public:
00067         typedef boost::shared_ptr<ConvergenceCriteria> Ptr;
00068         typedef boost::shared_ptr<const ConvergenceCriteria> ConstPtr;
00069 
00070         /** \brief Empty constructor. */
00071         ConvergenceCriteria () {}
00072 
00073         /** \brief Empty destructor. */
00074         virtual ~ConvergenceCriteria () {}
00075 
00076         /** \brief Check if convergence has been reached. Pure virtual. */
00077         virtual bool
00078         hasConverged () = 0;
00079 
00080         /** \brief Bool operator. */
00081         operator bool ()
00082         {
00083           return (hasConverged ());
00084         }
00085      };
00086   }
00087 }
00088 
00089 #endif    // PCL_REGISTRATION_CONVERGENCE_CRIERIA_H_
00090