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9 #ifndef _CTopLCDetectorBase_H
10 #define _CTopLCDetectorBase_H
54 const CHMHMapNodePtr ¤tArea,
55 const CHMHMapNodePtr &refArea,
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.
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 betw...
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.
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
stlplus::smart_ptr< CTopLCDetectorBase > CTopLCDetectorBasePtr
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
CTopLCDetectorBase(CHMTSLAM *htmslam_obj)
Instances can be generated through a class factory only.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
virtual void reset()
Reset the internal state of the TLCD, if any.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
virtual ~CTopLCDetectorBase()
A class factory, to be implemented in derived classes.
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
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