Query the current time.

we assume that the count of submaps in one single trajectory is less than 2^32-1 and the count of trajectories is less than 2^32-1

\brief Filter cloud and initializes voxel structure. * \param[out] output cloud containing centroids of voxels containing a sufficient number o

Query the current orientation estimate.

\brief Provide a pointer to the input dataset * \param cloud the const boost shared pointer to a PointCloud message */

\brief Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to). * \param[in] cloud the input point

\brief Get the inverse of the voxel covariance. * \return inverse covariance matrix */

\brief Get the voxel centroid. * \return centroid */

\brief Search for all the nearest occupied voxels of the query point in a given radius. * \note Only voxels containing a sufficient number of p

@todo make it thread-safe

Compare lhs with [rhs_begin, rhs_end)