mrpt::hmtslam::CTopLCDetectorBase Class Reference

Detailed Description

The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.

See also

mrpt::slam::CHMTSLAM

Definition at line 23 of file CTopLCDetectorBase.h.

#include <mrpt/hmtslam/CTopLCDetectorBase.h>

Inheritance diagram for mrpt::hmtslam::CTopLCDetectorBase:

Public Types
using	Ptr = std::shared_ptr< CTopLCDetectorBase >

Public Member Functions
virtual	~CTopLCDetectorBase ()=default
	A class factory, to be implemented in derived classes. More...
virtual void	reset ()
	Reset the internal state of the TLCD, if any. More...
virtual mrpt::poses::CPose3DPDF::Ptr	computeTopologicalObservationModel (const THypothesisID &hypID, const CHMHMapNode::Ptr &currentArea, const CHMHMapNode::Ptr &refArea, double &out_log_lik)=0
	This method must compute the topological observation model. More...
virtual bool	computeSSOBetweenObservations ([[maybe_unused]] const THypothesisID &hypID, [[maybe_unused]] const TPoseID &poseID1, [[maybe_unused]] const TPoseID &poseID2, [[maybe_unused]] double &out_SSO)
	If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations. More...
virtual void	OnNewPose ([[maybe_unused]] const TPoseID &poseID, [[maybe_unused]] const mrpt::obs::CSensoryFrame *SF)
	Hook method for being warned about the insertion of a new poses into the maps. More...

Protected Member Functions
	CTopLCDetectorBase (CHMTSLAM *htmslam_obj)
	Instances can be generated through a class factory only. More...

Protected Attributes
CHMTSLAM *	m_hmtslam

Member Typedef Documentation

Ptr

using mrpt::hmtslam::CTopLCDetectorBase::Ptr = std::shared_ptr<CTopLCDetectorBase>

Definition at line 79 of file CTopLCDetectorBase.h.

Constructor & Destructor Documentation

CTopLCDetectorBase()

mrpt::hmtslam::CTopLCDetectorBase::CTopLCDetectorBase ( CHMTSLAM *  htmslam_obj )

inlineprotected

Instances can be generated through a class factory only.

Definition at line 29 of file CTopLCDetectorBase.h.

~CTopLCDetectorBase()

virtual mrpt::hmtslam::CTopLCDetectorBase::~CTopLCDetectorBase ( )

virtualdefault

A class factory, to be implemented in derived classes.

Destructor

Member Function Documentation

computeSSOBetweenObservations()

virtual bool mrpt::hmtslam::CTopLCDetectorBase::computeSSOBetweenObservations ( [[maybe_unused] ] const THypothesisID &  hypID, [[maybe_unused] ] const TPoseID &  poseID1, [[maybe_unused] ] const TPoseID &  poseID2, [[maybe_unused] ] double &  out_SSO  )

inlinevirtual

If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations.

Parameters

out_SSO

The output, in the range [0,1].

Returns

true if computed SSO is meaningful. The default virtual method returns false.

Definition at line 61 of file CTopLCDetectorBase.h.

computeTopologicalObservationModel()

virtual mrpt::poses::CPose3DPDF::Ptr mrpt::hmtslam::CTopLCDetectorBase::computeTopologicalObservationModel ( const THypothesisID &  hypID, const CHMHMapNode::Ptr &  currentArea, const CHMHMapNode::Ptr &  refArea, double &  out_log_lik  )

pure virtual

This method must compute the topological observation model.

Parameters

out_log_lik

The output, a log-likelihood.

Returns

nullptr (an empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).

Implemented in mrpt::hmtslam::CTopLCDetector_GridMatching, and mrpt::hmtslam::CTopLCDetector_FabMap.

OnNewPose()

virtual void mrpt::hmtslam::CTopLCDetectorBase::OnNewPose ( [[maybe_unused] ] const TPoseID &  poseID, [[maybe_unused] ] const mrpt::obs::CSensoryFrame *  SF  )

inlinevirtual

Hook method for being warned about the insertion of a new poses into the maps.

This should be independent of hypothesis IDs.

Definition at line 74 of file CTopLCDetectorBase.h.

reset()

virtual void mrpt::hmtslam::CTopLCDetectorBase::reset ( )

inlinevirtual

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.

Definition at line 41 of file CTopLCDetectorBase.h.

Member Data Documentation

m_hmtslam

CHMTSLAM* mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam

protected

Definition at line 26 of file CTopLCDetectorBase.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap().