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CTopLCDetectorBase.h
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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 #ifndef _CTopLCDetectorBase_H
10 #define _CTopLCDetectorBase_H
11 
13 
14 #include <mrpt/poses/CPose3DPDF.h>
15 #include <mrpt/obs/CSensoryFrame.h>
16 
17 
18 namespace mrpt
19 {
20  namespace hmtslam
21  {
22  /** The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM
23  * \sa mrpt::slam::CHMTSLAM
24  * \ingroup mrpt_hmtslam_grp
25  */
27  {
28  protected:
30 
31  /** Instances can be generated through a class factory only */
32  CTopLCDetectorBase( CHMTSLAM *htmslam_obj ) : m_hmtslam(htmslam_obj) { }
33 
34  public:
35  /** A class factory, to be implemented in derived classes. */
36  //static CTopLCDetectorBase* createNewInstance();
37 
38  /** Destructor */
39  virtual ~CTopLCDetectorBase() { }
40 
41  /** Reset the internal state of the TLCD, if any.
42  * 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.
43  */
44  virtual void reset() {
45  // By default, do nothing.
46  }
47 
48  /** This method must compute the topological observation model.
49  * \param out_log_lik The output, a log-likelihood.
50  * \return NULL (an empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).
51  */
52  virtual mrpt::poses::CPose3DPDFPtr computeTopologicalObservationModel(
53  const THypothesisID &hypID,
54  const CHMHMapNodePtr &currentArea,
55  const CHMHMapNodePtr &refArea,
56  double &out_log_lik
57  ) = 0;
58 
59  /** If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations.
60  * \param out_SSO The output, in the range [0,1].
61  * \return true if computed SSO is meaningful. The default virtual method returns false.
62  */
64  const THypothesisID &hypID,
65  const TPoseID &poseID1,
66  const TPoseID &poseID2,
67  double &out_SSO
68  )
69  {
70  MRPT_UNUSED_PARAM(hypID); MRPT_UNUSED_PARAM(poseID1);
71  MRPT_UNUSED_PARAM(poseID2); MRPT_UNUSED_PARAM(out_SSO);
72  return false;
73  }
74 
75  /** Hook method for being warned about the insertion of a new poses into the maps.
76  * This should be independent of hypothesis IDs.
77  */
78  virtual void OnNewPose(
79  const TPoseID &poseID,
80  const mrpt::obs::CSensoryFrame *SF )
81  {
83  }
84 
85  }; // end class
86 
88 
89  } // end namespace
90 } // end namespace
91 #endif
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
Definition: CHMTSLAM.h:60
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
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.
CTopLCDetectorBase(CHMTSLAM *htmslam_obj)
Instances can be generated through a class factory only.
virtual void reset()
Reset the internal state of the TLCD, if any.
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.
virtual ~CTopLCDetectorBase()
A class factory, to be implemented in derived classes.
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...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
#define HMTSLAM_IMPEXP
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
Definition: mrpt_macros.h:290
stlplus::smart_ptr< CTopLCDetectorBase > CTopLCDetectorBasePtr
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.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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