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mrpt::hmtslam::CTopLCDetectorBase Class Referenceabstract

Detailed Description

The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.

See Also
mrpt::slam::CHMTSLAM

Definition at line 26 of file CTopLCDetectorBase.h.

#include <mrpt/hmtslam/CTopLCDetectorBase.h>

Inheritance diagram for mrpt::hmtslam::CTopLCDetectorBase:
Inheritance graph

Public Member Functions

virtual ~CTopLCDetectorBase ()
 A class factory, to be implemented in derived classes. More...
 
virtual void reset ()
 Reset the internal state of the TLCD, if any. More...
 
virtual mrpt::poses::CPose3DPDFPtr computeTopologicalObservationModel (const THypothesisID &hypID, const CHMHMapNodePtr &currentArea, const CHMHMapNodePtr &refArea, double &out_log_lik)=0
 This method must compute the topological observation model. More...
 
virtual bool computeSSOBetweenObservations (const THypothesisID &hypID, const TPoseID &poseID1, const TPoseID &poseID2, 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 (const TPoseID &poseID, const mrpt::obs::CSensoryFrame *SF)
 Hook method for being warned about the insertion of a new poses into the maps. More...
 

Protected Member Functions

 CTopLCDetectorBase (CHMTSLAM *htmslam_obj)
 Instances can be generated through a class factory only. More...
 

Protected Attributes

CHMTSLAMm_hmtslam
 

Constructor & Destructor Documentation

mrpt::hmtslam::CTopLCDetectorBase::CTopLCDetectorBase ( CHMTSLAM htmslam_obj)
inlineprotected

Instances can be generated through a class factory only.

Definition at line 32 of file CTopLCDetectorBase.h.

virtual mrpt::hmtslam::CTopLCDetectorBase::~CTopLCDetectorBase ( )
inlinevirtual

A class factory, to be implemented in derived classes.

Destructor

Definition at line 39 of file CTopLCDetectorBase.h.

Member Function Documentation

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

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

Parameters
out_SSOThe output, in the range [0,1].
Returns
true if computed SSO is meaningful. The default virtual method returns false.

Definition at line 63 of file CTopLCDetectorBase.h.

References MRPT_UNUSED_PARAM.

virtual mrpt::poses::CPose3DPDFPtr mrpt::hmtslam::CTopLCDetectorBase::computeTopologicalObservationModel ( const THypothesisID hypID,
const CHMHMapNodePtr &  currentArea,
const CHMHMapNodePtr &  refArea,
double &  out_log_lik 
)
pure virtual

This method must compute the topological observation model.

Parameters
out_log_likThe output, a log-likelihood.
Returns
NULL (an empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).

Implemented in mrpt::hmtslam::CTopLCDetector_FabMap, and mrpt::hmtslam::CTopLCDetector_GridMatching.

virtual void mrpt::hmtslam::CTopLCDetectorBase::OnNewPose ( const TPoseID poseID,
const mrpt::obs::CSensoryFrame SF 
)
inlinevirtual

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

This should be independent of hypothesis IDs.

Reimplemented in mrpt::hmtslam::CTopLCDetector_FabMap, and mrpt::hmtslam::CTopLCDetector_GridMatching.

Definition at line 78 of file CTopLCDetectorBase.h.

References MRPT_UNUSED_PARAM.

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

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 44 of file CTopLCDetectorBase.h.

Member Data Documentation

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



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