Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM.
Definition at line 461 of file CHMTSLAM.h.
#include <mrpt/hmtslam/CHMTSLAM.h>
Public Member Functions | |
CLSLAMAlgorithmBase (CHMTSLAM *parent) | |
Constructor. More... | |
virtual | ~CLSLAMAlgorithmBase () |
Destructor. More... | |
virtual void | processOneLMH (CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollectionPtr &act, const mrpt::obs::CSensoryFramePtr &sf)=0 |
Main entry point from HMT-SLAM: process some actions & observations. More... | |
virtual void | prediction_and_update_pfAuxiliaryPFOptimal (CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)=0 |
The PF algorithm implementation. More... | |
virtual void | prediction_and_update_pfOptimalProposal (CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)=0 |
The PF algorithm implementation. More... | |
Protected Attributes | |
mrpt::utils::safe_ptr< CHMTSLAM > | m_parent |
Friends | |
class | CLocalMetricHypothesis |
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inline |
Constructor.
Definition at line 470 of file CHMTSLAM.h.
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inlinevirtual |
Destructor.
Definition at line 474 of file CHMTSLAM.h.
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pure virtual |
The PF algorithm implementation.
Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.
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pure virtual |
The PF algorithm implementation.
Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.
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pure virtual |
Main entry point from HMT-SLAM: process some actions & observations.
The passed action/observation will be deleted, so a copy must be made if necessary. This method must be in charge of updating the robot pose estimates and also to update the map when required.
LMH | The local metric hypothesis which must be updated by this SLAM algorithm. |
act | The action to process (or NULL). |
sf | The observations to process (or NULL). |
Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.
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friend |
Definition at line 463 of file CHMTSLAM.h.
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protected |
Definition at line 465 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().
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