Struct IcpScanMatcher

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pub struct IcpScanMatcher { /* private fields */ }

Expand description

ICP-backed scan matcher for sequential point-cloud odometry.

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impl IcpScanMatcher

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pub const fn new(config: IcpConfig) -> Self

Creates an ICP scan matcher.

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pub const fn config(&self) -> IcpConfig

Returns the underlying ICP configuration.

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impl Clone for IcpScanMatcher

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fn clone(&self) -> IcpScanMatcher

Returns a duplicate of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl Debug for IcpScanMatcher

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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impl PartialEq for IcpScanMatcher

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fn eq(&self, other: &IcpScanMatcher) -> bool

Tests for self and other values to be equal, and is used by ==.

1.0.0 (const: unstable) · Source§

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

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impl ScanMatcher for IcpScanMatcher

Available on crate feature scan-icp only.

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fn match_scans( &self, previous: &PointCloud, current: &PointCloud, ) -> MappingResult<Isometry3<f32>>

Estimates current_T_previous from two same-frame scans.

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impl Copy for IcpScanMatcher

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impl StructuralPartialEq for IcpScanMatcher

Auto Trait Implementations§

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impl UnwindSafe for IcpScanMatcher

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> Downcast<T> for T

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fn downcast(&self) -> &T

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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