The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
- See also
Definition at line 26 of file CTopLCDetectorBase.h.
|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 ¤tArea, 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...|