mrpt::hmtslam::CTopLCDetector_GridMatching Class Reference

Detailed Description

Definition at line 18 of file CTopLCDetector_GridMatching.h.

#include <mrpt/hmtslam/CTopLCDetector_GridMatching.h>

Inheritance diagram for mrpt::hmtslam::CTopLCDetector_GridMatching:

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

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

Public Member Functions
	~CTopLCDetector_GridMatching () 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_GridMatching (CHMTSLAM *hmtslam)

Protected Attributes
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_GridMatching()

CTopLCDetector_GridMatching::CTopLCDetector_GridMatching ( CHMTSLAM *  hmtslam )

protected

Definition at line 25 of file CTopLCDetector_GridMatching.cpp.

Referenced by createNewInstance().

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~CTopLCDetector_GridMatching()

CTopLCDetector_GridMatching::~CTopLCDetector_GridMatching ( )

overridedefault

Destructor.

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_GridMatching::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, or a PDF of the estimated translation between the two areas (should be a SOG PDF): it's the pose of "refArea", relative to "currentArea".

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 36 of file CTopLCDetector_GridMatching.cpp.

References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), mrpt::serialization::archiveFrom(), ASSERT_, mrpt::system::createDirectory(), mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::format(), mrpt::slam::CGridMapAligner::TReturnInfo::icp_goodness_all_sog_modes, mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1, mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2, mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR, mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_DEBUG, mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam, mrpt::hmtslam::CHMTSLAM::m_options, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions::matchingOptions, NODE_ANNOTATION_METRIC_MAPS, mrpt::slam::CGridMapAligner::options, mrpt::io::CStream::printf(), mrpt::io::CStream::printf_vector(), mrpt::hmtslam::CHMTSLAM::saveState(), mrpt::math::size(), and mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options.

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createNewInstance()

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

inlinestatic

A class factory, to be implemented in derived classes.

Definition at line 26 of file CTopLCDetector_GridMatching.h.

References CTopLCDetector_GridMatching().

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OnNewPose() [1/2]

void CTopLCDetector_GridMatching::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 132 of file CTopLCDetector_GridMatching.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_hmtslam

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

protectedinherited

Definition at line 26 of file CTopLCDetectorBase.h.

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