CTopLCDetector_GridMatching.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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/CTopLCDetectorBase.h>
#include <mrpt/slam/CGridMapAligner.h>

namespace mrpt::hmtslam
{
/** \ingroup mrpt_hmtslam_grp */
class CTopLCDetector_GridMatching : public CTopLCDetectorBase
{
   protected:
    CTopLCDetector_GridMatching(CHMTSLAM* hmtslam);

   public:
    /** A class factory, to be implemented in derived classes.
     */
    static CTopLCDetectorBase* createNewInstance(CHMTSLAM* hmtslam)
    {
        return static_cast<CTopLCDetectorBase*>(
            new CTopLCDetector_GridMatching(hmtslam));
    }

    /** Destructor */
    ~CTopLCDetector_GridMatching() override;

    /** This method must compute the topological observation model.
     * \param out_log_lik The output, a log-likelihood.
     * \return nullptr, 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".
     */
    mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(
        const THypothesisID& hypID, const CHMHMapNode::Ptr& currentArea,
        const CHMHMapNode::Ptr& refArea, double& out_log_lik) override;

    /** Hook method for being warned about the insertion of a new poses into the
     * maps.
     *  This should be independent of hypothesis IDs.
     */
    void OnNewPose(
        const TPoseID& poseID, const mrpt::obs::CSensoryFrame* SF) override;

    /** Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM
     */
    struct TOptions : public mrpt::config::CLoadableOptions
    {
        /** Initialization of default params
         */
        TOptions();

        /** Options for the grid-to-grid matching algorithm */
        mrpt::slam::CGridMapAligner::TConfigParams matchingOptions;

        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;  // See base docs
        void dumpToTextStream(
            std::ostream& out) const override;  // See base docs
    };
};  // end class
}  // namespace mrpt::hmtslam