icp: added ICPWrapper

added class ICPWrapper and method matchPC() that has to be linked with CSM library

src/CMakeLists.txt

@@ -2,7 +2,7 @@
 MESSAGE("Starting laser_scan_utils CMakeLists ...")
 CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
-#find dependencies. 
+#find dependencies.
 FIND_PACKAGE(faramotics QUIET) #faramotics is only required for some tests
 IF(faramotics_FOUND)
 	#FIND_PACKAGE(GLUT REQUIRED)
@@ -22,7 +22,7 @@ ENDIF(faramotics_FOUND)
 #headers
 SET(HDRS_BASE
     laser_scan_utils.h)
-    
+
 SET(HDRS
     corner_finder.h
     corner_finder_inscribed_angle.h
@@ -38,7 +38,8 @@ SET(HDRS
     line_segment.h
     point_set.h
     polyline.h
-    scan_segment.h)
+    scan_segment.h
+    icp.h)
 
 #sources
 SET(SRCS
@@ -56,8 +57,9 @@ SET(SRCS
     line_segment.cpp
     point_set.cpp
     polyline.cpp
-    scan_segment.cpp)
-    
+    scan_segment.cpp
+    icp.cpp)
+
 # create the shared library
 ADD_LIBRARY(${PROJECT_NAME} SHARED ${SRCS})
 
@@ -66,11 +68,11 @@ INSTALL(TARGETS ${PROJECT_NAME}
       RUNTIME DESTINATION bin
       LIBRARY DESTINATION lib/iri-algorithms
       ARCHIVE DESTINATION lib/iri-algorithms)
-        
-#install headers         
-INSTALL(FILES ${HDRS_BASE} 
+
+#install headers
+INSTALL(FILES ${HDRS_BASE}
       DESTINATION include/iri-algorithms/laser_scan_utils)
-INSTALL(FILES ${HDRS} 
+INSTALL(FILES ${HDRS}
       DESTINATION include/iri-algorithms/laser_scan_utils)
 
 #install Find*.cmake

src/icp.cpp

+#include "icp.h"
+
+namespace laserscanutils{
+
+ICPWrapper::ICPWrapper()
+{
+
+}
+
+ICPWrapper::~ICPWrapper()
+{
+
+}
+
+void ICPWrapper::matchPC(LaserScan &_last_ls, LaserScan &_origin_ls, Eigen::Vector3s &_last_transf,
+             Eigen::Vector3s &_res_transf, int &num_points, int &error_points)
+{
+
+}
+
+}

src/icp.h

+// #include <csm/csm_all.h>
+#include "laser_scan.h"
+
+// using namespace CSM;
+using namespace laserscanutils;
+
+class ICPWrapper
+{
+    public:
+        ICPWrapper();
+        ~ICPWrapper();
+
+        void matchPC(LaserScan &_last_ls, LaserScan &_reference_ls, Eigen::Vector3s &_last_transf,
+                     Eigen::Vector3s &_res_transf, int &num_points, int &error_points);
+};