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10 #ifndef _CTopLCDetector_GridMatching_H
11 #define _CTopLCDetector_GridMatching_H
43 const CHMHMapNodePtr ¤tArea,
44 const CHMHMapNodePtr &refArea,
Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM.
virtual ~CTopLCDetector_GridMatching()
Destructor.
mrpt::slam::CGridMapAligner::TConfigParams matchingOptions
Options for the grid-to-grid matching algorithm.
TOptions()
Initialization of default params.
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
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.
CTopLCDetector_GridMatching(CHMTSLAM *hmtslam)
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
The ICP algorithm configuration data.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
static CTopLCDetectorBase * createNewInstance(CHMTSLAM *hmtslam)
A class factory, to be implemented in derived classes.
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...
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
mrpt::poses::CPose3DPDFPtr computeTopologicalObservationModel(const THypothesisID &hypID, const CHMHMapNodePtr ¤tArea, const CHMHMapNodePtr &refArea, double &out_log_lik)
This method must compute the topological observation model.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
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.
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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