text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          https://www.mrpt.org/                         |
     |                                                                        |
     | Copyright (c) 2005-2022, Individual contributors, see AUTHORS file     |
     | See: https://www.mrpt.org/Authors - All rights reserved.               |
     | Released under BSD License. See: https://www.mrpt.org/License          |
     +------------------------------------------------------------------------+ */
  
  #include "slam-precomp.h"  // Precompiled headers
  //
  #include <mrpt/poses/CPose3DPDFGaussian.h>
  #include <mrpt/poses/CPosePDF.h>
  #include <mrpt/poses/CPosePDFGaussian.h>
  #include <mrpt/slam/CMetricMapsAlignmentAlgorithm.h>
  
  using namespace mrpt::slam;
  using namespace mrpt::maps;
  using namespace mrpt::math;
  using namespace mrpt::poses;
  
  CPosePDF::Ptr CMetricMapsAlignmentAlgorithm::Align(
  	const mrpt::maps::CMetricMap* m1, const mrpt::maps::CMetricMap* m2,
  	const CPose2D& grossEst,
  	mrpt::optional_ref<TMetricMapAlignmentResult> outInfo)
  {
  	CPosePDFGaussian posePDF(grossEst, CMatrixDouble33());
  	return AlignPDF(m1, m2, posePDF, outInfo);
  }
  
  CPose3DPDF::Ptr CMetricMapsAlignmentAlgorithm::Align3D(
  	const mrpt::maps::CMetricMap* m1, const mrpt::maps::CMetricMap* m2,
  	const CPose3D& grossEst,
  	mrpt::optional_ref<TMetricMapAlignmentResult> outInfo)
  {
  	CPose3DPDFGaussian posePDF;
  	posePDF.mean = grossEst;
  	return Align3DPDF(m1, m2, posePDF, outInfo);
  }
  