Main MRPT website > C++ reference for MRPT 1.4.0
CTopLCDetector_GridMatching.h
Go to the documentation of this file.
1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9
10#ifndef _CTopLCDetector_GridMatching_H
11#define _CTopLCDetector_GridMatching_H
12
15
16namespace mrpt
17{
18 namespace hmtslam
19 {
20 /** \ingroup mrpt_hmtslam_grp */
22 {
23 protected:
25
26 public:
27 /** A class factory, to be implemented in derived classes.
28 */
30 {
31 return static_cast<CTopLCDetectorBase*>(new CTopLCDetector_GridMatching(hmtslam));
32 }
33
34 /** Destructor */
36
37 /** This method must compute the topological observation model.
38 * \param out_log_lik The output, a log-likelihood.
39 * \return NULL, 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".
40 */
42 const THypothesisID &hypID,
43 const CHMHMapNodePtr &currentArea,
44 const CHMHMapNodePtr &refArea,
45 double &out_log_lik
46 );
47
48 /** Hook method for being warned about the insertion of a new poses into the maps.
49 * This should be independent of hypothesis IDs.
50 */
52 const TPoseID &poseID,
53 const mrpt::obs::CSensoryFrame *SF );
54
55
56 /** Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM
57 */
59 {
60 /** Initialization of default params
61 */
63
64
65 /** Options for the grid-to-grid matching algorithm */
67
68 void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
69 void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
70 };
71 }; // end class
72 } // end namespace
73} // end namespace
74#endif
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
Definition: CHMTSLAM.h:60
mrpt::poses::CPose3DPDFPtr computeTopologicalObservationModel(const THypothesisID &hypID, const CHMHMapNodePtr &currentArea, const CHMHMapNodePtr &refArea, double &out_log_lik)
This method must compute the topological observation model.
static CTopLCDetectorBase * createNewInstance(CHMTSLAM *hmtslam)
A class factory, to be implemented in derived classes.
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.
virtual ~CTopLCDetector_GridMatching()
Destructor.
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
The ICP algorithm configuration data.
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:39
#define HMTSLAM_IMPEXP
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
struct BASE_IMPEXP CPose3DPDFPtr
Definition: CPose3DPDF.h:23
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
TOptions()
Initialization of default params.
mrpt::slam::CGridMapAligner::TConfigParams matchingOptions
Options for the grid-to-grid matching algorithm.
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.



Page generated by Doxygen 1.9.6 for MRPT 1.4.0 SVN: at Wed Mar 22 08:20:48 UTC 2023