trimmed.h

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/*
 * @author Utku Melemetci
 */
 
#include "icp/icp.h"
 
namespace icp {
    class Trimmed final : public ICP {
    public:
        Trimmed(double overlap_rate);
        Trimmed(const Config& config);
        ~Trimmed();
 
        void setup() override;
        void iterate() override;
 
    private:
        void compute_matches();
 
        double overlap_rate;
        std::vector<icp::Vector> a_current;
        icp::Vector b_cm;
    };
}