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CTopLCDetector_GridMatching.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, 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 
16 namespace 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 */
35  virtual ~CTopLCDetector_GridMatching();
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  */
41  mrpt::poses::CPose3DPDFPtr computeTopologicalObservationModel(
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  */
51  void OnNewPose(
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  */
62  TOptions();
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
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
The ICP algorithm configuration data.
mrpt::slam::CGridMapAligner::TConfigParams matchingOptions
Options for the grid-to-grid matching algorithm.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
static CTopLCDetectorBase * createNewInstance(CHMTSLAM *hmtslam)
A class factory, to be implemented in derived classes.
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
Definition: CHMTSLAM.h:59
This class allows loading and storing values and vectors of different types from a configuration text...
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
GLsizei const GLchar ** string
Definition: glext.h:3919
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.
GLsizei GLsizei GLchar * source
Definition: glext.h:3908
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...



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