mrpt::hmtslam::CLSLAMAlgorithmBase Class Reference

Detailed Description

Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM.

Definition at line 516 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CLSLAMAlgorithmBase:

Public Member Functions
	CLSLAMAlgorithmBase (CHMTSLAM *parent)
	Constructor. More...
virtual	~CLSLAMAlgorithmBase ()=default
	Destructor. More...
virtual void	processOneLMH (CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection::Ptr &act, const mrpt::obs::CSensoryFrame::Ptr &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::safe_ptr< CHMTSLAM >	m_parent

Friends
class	CLocalMetricHypothesis

Constructor & Destructor Documentation

CLSLAMAlgorithmBase()

mrpt::hmtslam::CLSLAMAlgorithmBase::CLSLAMAlgorithmBase ( CHMTSLAM *  parent )

inline

Constructor.

Definition at line 526 of file CHMTSLAM.h.

~CLSLAMAlgorithmBase()

virtual mrpt::hmtslam::CLSLAMAlgorithmBase::~CLSLAMAlgorithmBase ( )

virtualdefault

Destructor.

Member Function Documentation

prediction_and_update_pfAuxiliaryPFOptimal()

virtual void mrpt::hmtslam::CLSLAMAlgorithmBase::prediction_and_update_pfAuxiliaryPFOptimal ( CLocalMetricHypothesis *  LMH, const mrpt::obs::CActionCollection *  action, const mrpt::obs::CSensoryFrame *  observation, const bayes::CParticleFilter::TParticleFilterOptions &  PF_options  )

pure virtual

The PF algorithm implementation.

Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

prediction_and_update_pfOptimalProposal()

virtual void mrpt::hmtslam::CLSLAMAlgorithmBase::prediction_and_update_pfOptimalProposal ( CLocalMetricHypothesis *  LMH, const mrpt::obs::CActionCollection *  action, const mrpt::obs::CSensoryFrame *  observation, const bayes::CParticleFilter::TParticleFilterOptions &  PF_options  )

pure virtual

The PF algorithm implementation.

Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

processOneLMH()

virtual void mrpt::hmtslam::CLSLAMAlgorithmBase::processOneLMH ( CLocalMetricHypothesis *  LMH, const mrpt::obs::CActionCollection::Ptr &  act, const mrpt::obs::CSensoryFrame::Ptr &  sf  )

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.

Parameters

LMH	The local metric hypothesis which must be updated by this SLAM algorithm.
act	The action to process (or nullptr).
sf	The observations to process (or nullptr).

Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

Referenced by mrpt::hmtslam::CHMTSLAM::thread_LSLAM().

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Friends And Related Function Documentation

CLocalMetricHypothesis

friend class CLocalMetricHypothesis

friend

Definition at line 518 of file CHMTSLAM.h.

Member Data Documentation

m_parent

mrpt::safe_ptr<CHMTSLAM> mrpt::hmtslam::CLSLAMAlgorithmBase::m_parent

protected

Definition at line 521 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().