CTopLCDetector_GridMatching.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#ifndef _CTopLCDetector_GridMatching_H
#define _CTopLCDetector_GridMatching_H
 
#include <mrpt/hmtslam/CTopLCDetectorBase.h>
#include <mrpt/slam/CGridMapAligner.h>
 
namespace mrpt
{
namespace hmtslam
{
/** \ingroup mrpt_hmtslam_grp */
class CTopLCDetector_GridMatching : public CTopLCDetectorBase
{
   protected:
        CTopLCDetector_GridMatching(CHMTSLAM* hmtslam);
 
   public:
        /** A class factory, to be implemented in derived classes.
          */
        static CTopLCDetectorBase* createNewInstance(CHMTSLAM* hmtslam)
        {
                return static_cast<CTopLCDetectorBase*>(
                        new CTopLCDetector_GridMatching(hmtslam));
        }
 
        /** Destructor */
        virtual ~CTopLCDetector_GridMatching();
 
        /** This method must compute the topological observation model.
          * \param out_log_lik The output, a log-likelihood.
          * \return nullptr, or a PDF of the estimated translation between the two
         * areas (should be a SOG PDF): it's the pose of "refArea", relative to
         * "currentArea".
          */
        mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(
                const THypothesisID& hypID, const CHMHMapNode::Ptr& currentArea,
                const CHMHMapNode::Ptr& refArea, double& out_log_lik);
 
        /** Hook method for being warned about the insertion of a new poses into the
         * maps.
          *  This should be independent of hypothesis IDs.
          */
        void OnNewPose(const TPoseID& poseID, const mrpt::obs::CSensoryFrame* SF);
 
        /** Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM
          */
        struct TOptions : public mrpt::config::CLoadableOptions
        {
                /** Initialization of default params
                  */
                TOptions();
 
                /** Options for the grid-to-grid matching algorithm */
                mrpt::slam::CGridMapAligner::TConfigParams matchingOptions;
 
                void loadFromConfigFile(
                        const mrpt::config::CConfigFileBase& source,
                        const std::string& section) override;  // See base docs
                void dumpToTextStream(
                        std::ostream& out) const override;  // See base docs
        };
};  // end class
}  // end namespace
}  // end namespace
#endif