
struct  ValueAndDerivatives 
 Class to store vector value and first and second derivatives (grad vector and hessian matrix), so they can be returned easily from functions. More...


class  NormalDist 
 A normal distribution estimation class. More...


class  NDTSingleGrid 
 Build a set of normal distributions modelling a 2D point cloud, and provide the value and derivatives of the model at any point via the test (...) function. More...


class  NDT2D 
 Build a Normal Distributions Transform of a 2D point cloud. More...

