MRPT  1.9.9
mrpt::hmtslam::CLSLAMAlgorithmBase Class Referenceabstract

Detailed Description

Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM.

Definition at line 516 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CLSLAMAlgorithmBase:

Public Member Functions

 CLSLAMAlgorithmBase (CHMTSLAM *parent)
 Constructor. More...
 
virtual ~CLSLAMAlgorithmBase ()=default
 Destructor. More...
 
virtual void processOneLMH (CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection::Ptr &act, const mrpt::obs::CSensoryFrame::Ptr &sf)=0
 Main entry point from HMT-SLAM: process some actions & observations. More...
 
virtual void prediction_and_update_pfAuxiliaryPFOptimal (CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)=0
 The PF algorithm implementation. More...
 
virtual void prediction_and_update_pfOptimalProposal (CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)=0
 The PF algorithm implementation. More...
 

Protected Attributes

mrpt::safe_ptr< CHMTSLAMm_parent
 

Friends

class CLocalMetricHypothesis
 

Constructor & Destructor Documentation

◆ CLSLAMAlgorithmBase()

mrpt::hmtslam::CLSLAMAlgorithmBase::CLSLAMAlgorithmBase ( CHMTSLAM parent)
inline

Constructor.

Definition at line 526 of file CHMTSLAM.h.

◆ ~CLSLAMAlgorithmBase()

virtual mrpt::hmtslam::CLSLAMAlgorithmBase::~CLSLAMAlgorithmBase ( )
virtualdefault

Destructor.

Member Function Documentation

◆ prediction_and_update_pfAuxiliaryPFOptimal()

virtual void mrpt::hmtslam::CLSLAMAlgorithmBase::prediction_and_update_pfAuxiliaryPFOptimal ( CLocalMetricHypothesis LMH,
const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
pure virtual

The PF algorithm implementation.

Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

◆ prediction_and_update_pfOptimalProposal()

virtual void mrpt::hmtslam::CLSLAMAlgorithmBase::prediction_and_update_pfOptimalProposal ( CLocalMetricHypothesis LMH,
const mrpt::obs::CActionCollection action,
const mrpt::obs::CSensoryFrame observation,
const bayes::CParticleFilter::TParticleFilterOptions PF_options 
)
pure virtual

The PF algorithm implementation.

Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

◆ processOneLMH()

virtual void mrpt::hmtslam::CLSLAMAlgorithmBase::processOneLMH ( CLocalMetricHypothesis LMH,
const mrpt::obs::CActionCollection::Ptr act,
const mrpt::obs::CSensoryFrame::Ptr sf 
)
pure virtual

Main entry point from HMT-SLAM: process some actions & observations.

The passed action/observation will be deleted, so a copy must be made if necessary. This method must be in charge of updating the robot pose estimates and also to update the map when required.

Parameters
LMHThe local metric hypothesis which must be updated by this SLAM algorithm.
actThe action to process (or nullptr).
sfThe observations to process (or nullptr).

Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

Friends And Related Function Documentation

◆ CLocalMetricHypothesis

friend class CLocalMetricHypothesis
friend

Definition at line 518 of file CHMTSLAM.h.

Member Data Documentation

◆ m_parent

mrpt::safe_ptr<CHMTSLAM> mrpt::hmtslam::CLSLAMAlgorithmBase::m_parent
protected



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