MRPT  2.0.5
CTopLCDetector_GridMatching.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #pragma once
11 
14 
15 namespace mrpt::hmtslam
16 {
17 /** \ingroup mrpt_hmtslam_grp */
19 {
20  protected:
22 
23  public:
24  /** A class factory, to be implemented in derived classes.
25  */
27  {
28  return static_cast<CTopLCDetectorBase*>(
29  new CTopLCDetector_GridMatching(hmtslam));
30  }
31 
32  /** Destructor */
34 
35  /** This method must compute the topological observation model.
36  * \param out_log_lik The output, a log-likelihood.
37  * \return nullptr, or a PDF of the estimated translation between the two
38  * areas (should be a SOG PDF): it's the pose of "refArea", relative to
39  * "currentArea".
40  */
42  const THypothesisID& hypID, const CHMHMapNode::Ptr& currentArea,
43  const CHMHMapNode::Ptr& refArea, double& out_log_lik) override;
44 
45  /** Hook method for being warned about the insertion of a new poses into the
46  * maps.
47  * This should be independent of hypothesis IDs.
48  */
49  void OnNewPose(
50  const TPoseID& poseID, const mrpt::obs::CSensoryFrame* SF) override;
51 
52  /** Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM
53  */
55  {
56  /** Initialization of default params
57  */
58  TOptions();
59 
60  /** Options for the grid-to-grid matching algorithm */
62 
63  void loadFromConfigFile(
64  const mrpt::config::CConfigFileBase& source,
65  const std::string& section) override; // See base docs
66  void dumpToTextStream(
67  std::ostream& out) const override; // See base docs
68  };
69 }; // end class
70 } // namespace mrpt::hmtslam
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
The ICP algorithm configuration data.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
mrpt::slam::CGridMapAligner::TConfigParams matchingOptions
Options for the grid-to-grid matching algorithm.
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:67
This class allows loading and storing values and vectors of different types from a configuration text...
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
This method load the options from a ".ini"-like file or memory-stored string list.
void OnNewPose(const TPoseID &poseID, const mrpt::obs::CSensoryFrame *SF) override
Hook method for being warned about the insertion of a new poses into the maps.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Definition: CSensoryFrame.h:51
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM.
mrpt::vision::TStereoCalibResults out
~CTopLCDetector_GridMatching() override
Destructor.
mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(const THypothesisID &hypID, const CHMHMapNode::Ptr &currentArea, const CHMHMapNode::Ptr &refArea, double &out_log_lik) override
This method must compute the topological observation model.



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