class mrpt::hmtslam::CTopLCDetectorBase

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

See also:

mrpt::slam::CHMTSLAM

#include <mrpt/hmtslam/CTopLCDetectorBase.h>

class CTopLCDetectorBase
{
public:
    // typedefs

    typedef std::shared_ptr<CTopLCDetectorBase> Ptr;

    //
methods

    virtual mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(
        const THypothesisID& hypID,
        const CHMHMapNode::Ptr& currentArea,
        const CHMHMapNode::Ptr& refArea,
        double& out_log_lik
        ) = 0;
};

// direct descendants

class CTopLCDetector_FabMap;
class CTopLCDetector_GridMatching;

Methods

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.

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).