00001 #if 0
00002
00003 #ifndef _MATCHING_HPP_
00004 #define _MATCHING_HPP_
00005
00006 #include "jmath/jblas.hpp"
00007
00008 namespace jafar {
00009 namespace facetsmap {
00010 class FacetsCloseness;
00011 class Facet;
00012 class FacetsMap;
00013 struct MatchingParam {
00014 MatchingParam(double tf = 0.1, double tp = 0.9, double tz = 0.6) : threshold_far(tf), threshold_parallelism(tp), threshold_zncc(tz) {}
00015 double threshold_far;
00016 double threshold_parallelism;
00017 double threshold_zncc;
00018 };
00019 FacetsCloseness* bestNeighbourgh(Facet* f, FacetsMap* fm, jblas::mat44& robotpos, MatchingParam& mp);
00020 };
00021 };
00022
00023 #endif
00024
00025 #endif
