From 0bcc739df6c4968fe1854e0b444b404d846ff4a5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 24 Jul 2022 16:32:27 +0200
Subject: [PATCH] Document principal derived methods
---
include/laser/processor/processor_odom_icp.h | 32 ++++++++++++++++++++
1 file changed, 32 insertions(+)
diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h
index e21bbf3e5..516f8c2ef 100644
--- a/include/laser/processor/processor_odom_icp.h
+++ b/include/laser/processor/processor_odom_icp.h
@@ -123,12 +123,44 @@ class ProcessorOdomIcp : public ProcessorTracker, public MotionProvider
protected:
void preProcess() override;
+ /** \brief Compute transform from origin to incoming.
+ *
+ * The transform is the result of aligning the scans in origin and incoming.
+ * This alignement takes as prior the current transform from origin to last.
+ *
+ * \return the number of features tracked. This is always zero since this processor is not tracking features.
+ */
unsigned int processKnown() override;
+ /** \brief Compute transform from last to incoming.
+ *
+ * The transform is the result of aligning the scans in last and incoming.
+ * This alignement takes as prior the identity transform.
+ *
+ * \param _max_features number of features to extract. This is ignored since this processor is not extracting features.
+ *
+ * \return the number of features extracted. This is always zero since this processor is not extracting features.
+ */
unsigned int processNew(const int& _max_features) override;
bool voteForKeyFrame() const override;
+ /** \brief advance pointers and update internal values
+ *
+ * We do several things:
+ * - Advance derived pointers
+ * - Advance isometries
+ * - Update extrinsic isometries in case they have changed
+ * - Compute odometry
+ */
void advanceDerived() override;
+ /** \brief advance pointers and update internal values
+ *
+ * We do several things:
+ * - Reset derived pointers
+ * - Reset isometries
+ * - Update extrinsic isometries in case they have changed
+ * - Compute odometry
+ */
void resetDerived() override;
--
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