CTopLCDetectorBase.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/hmtslam/HMT_SLAM_common.h>

#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/poses/CPose3DPDF.h>

namespace mrpt::hmtslam
{
/** The virtual base class for Topological Loop-closure Detectors; used in
 * HMT-SLAM
 *  \sa mrpt::slam::CHMTSLAM
 * \ingroup mrpt_hmtslam_grp
 */
class CTopLCDetectorBase
{
   protected:
    CHMTSLAM* m_hmtslam;

    /** Instances can be generated through a class factory only */
    CTopLCDetectorBase(CHMTSLAM* htmslam_obj) : m_hmtslam(htmslam_obj) {}

   public:
    /** A class factory, to be implemented in derived classes. */
    // static CTopLCDetectorBase* createNewInstance();

    /** Destructor */
    virtual ~CTopLCDetectorBase() = default;
    /** Reset the internal state of the TLCD, if any.
     *  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.
     */
    virtual void reset()
    {
        // By default, do nothing.
    }

    /** This method must compute the topological observation model.
     * \param out_log_lik The output, a log-likelihood.
     * \return nullptr (an empty smart pointer), or a PDF of the estimated
     * translation between the two areas (can be a multi-modal PDF).
     */
    virtual mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(
        const THypothesisID& hypID, const CHMHMapNode::Ptr& currentArea,
        const CHMHMapNode::Ptr& refArea, double& out_log_lik) = 0;

    /** If implemented, this method provides the evaluation of an additional
     * term to be added to the SSO between each pair of observations.
     * \param out_SSO The output, in the range [0,1].
     * \return true if computed SSO is meaningful. The default virtual method
     * returns false.
     */
    virtual bool computeSSOBetweenObservations(
        const THypothesisID& hypID, const TPoseID& poseID1,
        const TPoseID& poseID2, double& out_SSO)
    {
        MRPT_UNUSED_PARAM(hypID);
        MRPT_UNUSED_PARAM(poseID1);
        MRPT_UNUSED_PARAM(poseID2);
        MRPT_UNUSED_PARAM(out_SSO);
        return false;
    }

    /** Hook method for being warned about the insertion of a new poses into the
     * maps.
     *  This should be independent of hypothesis IDs.
     */
    virtual void OnNewPose(
        const TPoseID& poseID, const mrpt::obs::CSensoryFrame* SF)
    {
        MRPT_UNUSED_PARAM(poseID);
        MRPT_UNUSED_PARAM(SF);
    }
    using Ptr = std::shared_ptr<CTopLCDetectorBase>;

};  // end class

}  // namespace mrpt::hmtslam