CTopLCDetectorBase.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef  _CTopLCDetectorBase_H
#define  _CTopLCDetectorBase_H

#include <mrpt/hmtslam/HMT_SLAM_common.h>

#include <mrpt/poses/CPose3DPDF.h>
#include <mrpt/obs/CSensoryFrame.h>


namespace mrpt
{
        namespace hmtslam
        {
                /** The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM
                  *  \sa mrpt::slam::CHMTSLAM
                  * \ingroup mrpt_hmtslam_grp
                  */
                class HMTSLAM_IMPEXP CTopLCDetectorBase
                {
                protected:
                        CHMTSLAM        *m_hmtslam;

                        /** Instances can be generated through a class factory only */
                        CTopLCDetectorBase( CHMTSLAM *htmslam_obj ) : m_hmtslam(htmslam_obj) {  }

                public:
                        /** A class factory, to be implemented in derived classes. */
                        //static CTopLCDetectorBase* createNewInstance();

                        /** Destructor */
                        virtual ~CTopLCDetectorBase() { }

                        /** Reset the internal state of the TLCD, if any.
                          *  This is needed since the objects are created while loading HMT-SLAM options, but the algorithm may be re-started after that at any time.
                          */
                        virtual void reset() {
                                // By default, do nothing.
                        }

                        /** This method must compute the topological observation model.
                          * \param out_log_lik The output, a log-likelihood.
                          * \return NULL (an empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).
                          */
                        virtual mrpt::poses::CPose3DPDFPtr computeTopologicalObservationModel(
                                const THypothesisID             &hypID,
                                const CHMHMapNodePtr    &currentArea,
                                const CHMHMapNodePtr    &refArea,
                                double                                  &out_log_lik
                                 ) = 0;

                        /** If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations.
                          * \param out_SSO The output, in the range [0,1].
                          * \return true if computed SSO is meaningful. The default virtual method returns false.
                          */
                        virtual bool computeSSOBetweenObservations(
                                const THypothesisID             &hypID,
                                const TPoseID                   &poseID1,
                                const TPoseID                   &poseID2,
                                double                                  &out_SSO
                                )
                        {
                                MRPT_UNUSED_PARAM(hypID); MRPT_UNUSED_PARAM(poseID1);
                                MRPT_UNUSED_PARAM(poseID2); MRPT_UNUSED_PARAM(out_SSO);
                                return false;
                        }

                        /** Hook method for being warned about the insertion of a new poses into the maps.
                          *  This should be independent of hypothesis IDs.
                          */
                        virtual void OnNewPose(
                                const TPoseID                   &poseID,
                                const mrpt::obs::CSensoryFrame          *SF )
                        {
                                MRPT_UNUSED_PARAM(poseID); MRPT_UNUSED_PARAM(SF);
                        }

                }; // end class

                typedef std::shared_ptr<CTopLCDetectorBase> CTopLCDetectorBasePtr;

        } // end namespace
} // end namespace
#endif