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9 #ifndef _CTopLCDetector_FabMap_H
10 #define _CTopLCDetector_FabMap_H
65 std::ostream& out)
const override;
static CTopLCDetectorBase * createNewInstance(CHMTSLAM *hmtslam)
A class factory, to be implemented in derived classes.
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
void OnNewPose(const TPoseID &poseID, const mrpt::obs::CSensoryFrame *SF)
Hook method for being warned about the insertion of a new poses into the maps.
CTopLCDetector_FabMap(CHMTSLAM *hmtslam)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLsizei GLsizei GLchar * source
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
virtual ~CTopLCDetector_FabMap()
Destructor.
This class allows loading and storing values and vectors of different types from a configuration text...
TOptions()
Initialization of default params.
double p_obs_given_exists
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
Options for a TLC-detector of type FabMap, used from CHMTSLAM.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
std::shared_ptr< CHMHMapNode > Ptr
std::shared_ptr< CPose3DPDF > Ptr
GLsizei const GLchar ** string
mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(const THypothesisID &hypID, const CHMHMapNode::Ptr ¤tArea, const CHMHMapNode::Ptr &refArea, double &out_log_lik)
This method must compute the topological observation model.
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
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