mrpt::hmtslam::CTopLCDetector_FabMap Class Reference

Detailed Description

Definition at line 16 of file CTopLCDetector_FabMap.h.

#include <mrpt/hmtslam/CTopLCDetector_FabMap.h>

Inheritance diagram for mrpt::hmtslam::CTopLCDetector_FabMap:

Classes
struct	TOptions
	Options for a TLC-detector of type FabMap, used from CHMTSLAM. More...

Public Types
using	Ptr = std::shared_ptr< CTopLCDetectorBase >

Public Member Functions
	~CTopLCDetector_FabMap () override
	Destructor. More...
mrpt::poses::CPose3DPDF::Ptr	computeTopologicalObservationModel (const THypothesisID &hypID, const CHMHMapNode::Ptr &currentArea, const CHMHMapNode::Ptr &refArea, double &out_log_lik) override
	This method must compute the topological observation model. More...
void	OnNewPose (const TPoseID &poseID, const mrpt::obs::CSensoryFrame *SF) override
	Hook method for being warned about the insertion of a new poses into the maps. More...
virtual void	reset ()
	Reset the internal state of the TLCD, if any. More...
virtual bool	computeSSOBetweenObservations ([[maybe_unused]] const THypothesisID &hypID, [[maybe_unused]] const TPoseID &poseID1, [[maybe_unused]] const TPoseID &poseID2, [[maybe_unused]] double &out_SSO)
	If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations. More...
virtual void	OnNewPose ([[maybe_unused]] const TPoseID &poseID, [[maybe_unused]] const mrpt::obs::CSensoryFrame *SF)
	Hook method for being warned about the insertion of a new poses into the maps. More...

Static Public Member Functions
static CTopLCDetectorBase *	createNewInstance (CHMTSLAM *hmtslam)
	A class factory, to be implemented in derived classes. More...

Protected Member Functions
	CTopLCDetector_FabMap (CHMTSLAM *hmtslam)

Protected Attributes
void *	m_fabmap
CHMTSLAM *	m_hmtslam

Member Typedef Documentation

Ptr

using mrpt::hmtslam::CTopLCDetectorBase::Ptr = std::shared_ptr<CTopLCDetectorBase>

inherited

Definition at line 79 of file CTopLCDetectorBase.h.

Constructor & Destructor Documentation

CTopLCDetector_FabMap()

CTopLCDetector_FabMap::CTopLCDetector_FabMap ( CHMTSLAM *  hmtslam )

protected

Definition at line 23 of file CTopLCDetector_FabMap.cpp.

References mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::df_lik_smooth, m_fabmap, mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam, mrpt::hmtslam::CHMTSLAM::m_options, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::p_at_new_place, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::p_obs_given_exists, THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::vocab_path, and mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::vocabName.

Referenced by createNewInstance().

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~CTopLCDetector_FabMap()

CTopLCDetector_FabMap::~CTopLCDetector_FabMap ( )

override

Destructor.

Definition at line 50 of file CTopLCDetector_FabMap.cpp.

References m_fabmap.

Member Function Documentation

computeSSOBetweenObservations()

virtual bool mrpt::hmtslam::CTopLCDetectorBase::computeSSOBetweenObservations ( [[maybe_unused] ] const THypothesisID &  hypID, [[maybe_unused] ] const TPoseID &  poseID1, [[maybe_unused] ] const TPoseID &  poseID2, [[maybe_unused] ] double &  out_SSO  )

inlinevirtualinherited

If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations.

Parameters

out_SSO

The output, in the range [0,1].

Returns

true if computed SSO is meaningful. The default virtual method returns false.

Definition at line 61 of file CTopLCDetectorBase.h.

computeTopologicalObservationModel()

CPose3DPDF::Ptr CTopLCDetector_FabMap::computeTopologicalObservationModel ( const THypothesisID &  hypID, const CHMHMapNode::Ptr &  currentArea, const CHMHMapNode::Ptr &  refArea, double &  out_log_lik  )

overridevirtual

This method must compute the topological observation model.

Parameters

out_log_lik

The output, a log-likelihood.

Returns

nullptr (empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).

Parameters

out_log_lik

The output, a log-likelihood.

Returns

nullptr, or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).

Implements mrpt::hmtslam::CTopLCDetectorBase.

Definition at line 63 of file CTopLCDetector_FabMap.cpp.

createNewInstance()

static CTopLCDetectorBase* mrpt::hmtslam::CTopLCDetector_FabMap::createNewInstance ( CHMTSLAM *  hmtslam )

inlinestatic

A class factory, to be implemented in derived classes.

Definition at line 26 of file CTopLCDetector_FabMap.h.

References CTopLCDetector_FabMap().

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OnNewPose() [1/2]

void CTopLCDetector_FabMap::OnNewPose ( const TPoseID &  poseID, const mrpt::obs::CSensoryFrame *  SF  )

override

Hook method for being warned about the insertion of a new poses into the maps.

This should be independent of hypothesis IDs.

Definition at line 76 of file CTopLCDetector_FabMap.cpp.

OnNewPose() [2/2]

virtual void mrpt::hmtslam::CTopLCDetectorBase::OnNewPose ( [[maybe_unused] ] const TPoseID &  poseID, [[maybe_unused] ] const mrpt::obs::CSensoryFrame *  SF  )

inlinevirtualinherited

Hook method for being warned about the insertion of a new poses into the maps.

This should be independent of hypothesis IDs.

Definition at line 74 of file CTopLCDetectorBase.h.

reset()

virtual void mrpt::hmtslam::CTopLCDetectorBase::reset ( )

inlinevirtualinherited

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.

Definition at line 41 of file CTopLCDetectorBase.h.

Member Data Documentation

m_fabmap

void* mrpt::hmtslam::CTopLCDetector_FabMap::m_fabmap

protected

Definition at line 21 of file CTopLCDetector_FabMap.h.

Referenced by CTopLCDetector_FabMap(), and ~CTopLCDetector_FabMap().

m_hmtslam

CHMTSLAM* mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam

protectedinherited

Definition at line 26 of file CTopLCDetectorBase.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and CTopLCDetector_FabMap().