00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef _CTopLCDetector_FabMap_H 00029 #define _CTopLCDetector_FabMap_H 00030 00031 #include <mrpt/hmtslam/CTopLCDetectorBase.h> 00032 00033 namespace mrpt 00034 { 00035 namespace hmtslam 00036 { 00037 class CTopLCDetector_FabMap : public CTopLCDetectorBase 00038 { 00039 protected: 00040 CTopLCDetector_FabMap( CHMTSLAM *hmtslam ); 00041 00042 void *m_fabmap; // FabMapInstance* 00043 00044 public: 00045 /** A class factory, to be implemented in derived classes. 00046 */ 00047 static CTopLCDetectorBase* createNewInstance( CHMTSLAM *hmtslam ) 00048 { 00049 return static_cast<CTopLCDetectorBase*>(new CTopLCDetector_FabMap(hmtslam)); 00050 } 00051 00052 /** Destructor */ 00053 virtual ~CTopLCDetector_FabMap(); 00054 00055 /** This method must compute the topological observation model. 00056 * \param out_log_lik The output, a log-likelihood. 00057 * \return NULL (empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF). 00058 */ 00059 CPose3DPDFPtr computeTopologicalObservationModel( 00060 const THypothesisID &hypID, 00061 const CHMHMapNodePtr ¤tArea, 00062 const CHMHMapNodePtr &refArea, 00063 double &out_log_lik 00064 ); 00065 00066 /** Hook method for being warned about the insertion of a new poses into the maps. 00067 * This should be independent of hypothesis IDs. 00068 */ 00069 void OnNewPose( 00070 const TPoseID &poseID, 00071 const CSensoryFrame *SF ); 00072 00073 00074 /** Options for a TLC-detector of type FabMap, used from CHMTSLAM 00075 */ 00076 struct TOptions : public utils::CLoadableOptions 00077 { 00078 /** Initialization of default params 00079 */ 00080 TOptions(); 00081 00082 /** Load parameters from configuration source 00083 */ 00084 void loadFromConfigFile( 00085 const mrpt::utils::CConfigFileBase &source, 00086 const std::string §ion); 00087 00088 /** This method must display clearly all the contents of the structure in textual form, sending it to a CStream. 00089 */ 00090 void dumpToTextStream(CStream &out) const; 00091 00092 std::string vocab_path,vocabName; 00093 double p_obs_given_exists, p_at_new_place, df_lik_smooth; 00094 }; 00095 00096 00097 }; // end class 00098 } // end namespace 00099 } // end namespace 00100 00101 00102 #endif
Page generated by Doxygen 1.7.2 for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011 |