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 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 nullptr (an empty smart pointer), or a PDF of the estimated
         * translation between the two areas (can be a multi-modal PDF).
          */
        virtual mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(
                const THypothesisID& hypID, const CHMHMapNode::Ptr& currentArea,
                const CHMHMapNode::Ptr& 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);
        }
        using Ptr = std::shared_ptr<CTopLCDetectorBase>;

};  // end class

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