The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
Definition at line 46 of file CTopLCDetectorBase.h.
#include <mrpt/hmtslam/CTopLCDetectorBase.h>
Public Member Functions | |
virtual | ~CTopLCDetectorBase () |
A class factory, to be implemented in derived classes. | |
virtual void | reset () |
Reset the internal state of the TLCD, if any. | |
virtual CPose3DPDFPtr | computeTopologicalObservationModel (const THypothesisID &hypID, const CHMHMapNodePtr ¤tArea, const CHMHMapNodePtr &refArea, double &out_log_lik)=0 |
This method must compute the topological observation model. | |
virtual bool | computeSSOBetweenObservations (const THypothesisID &hypID, const TPoseID &poseID1, const TPoseID &poseID2, double &out_SSO) |
If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations. | |
virtual void | OnNewPose (const TPoseID &poseID, const CSensoryFrame *SF) |
Hook method for being warned about the insertion of a new poses into the maps. | |
Protected Member Functions | |
CTopLCDetectorBase (CHMTSLAM *htmslam_obj) | |
Instances can be generated through a class factory only. | |
Protected Attributes | |
CHMTSLAM * | m_hmtslam |
mrpt::hmtslam::CTopLCDetectorBase::CTopLCDetectorBase | ( | CHMTSLAM * | htmslam_obj ) | [inline, protected] |
Instances can be generated through a class factory only.
Definition at line 52 of file CTopLCDetectorBase.h.
virtual mrpt::hmtslam::CTopLCDetectorBase::~CTopLCDetectorBase | ( | ) | [inline, virtual] |
A class factory, to be implemented in derived classes.
Destructor
Definition at line 59 of file CTopLCDetectorBase.h.
virtual bool mrpt::hmtslam::CTopLCDetectorBase::computeSSOBetweenObservations | ( | const THypothesisID & | hypID, |
const TPoseID & | poseID1, | ||
const TPoseID & | poseID2, | ||
double & | out_SSO | ||
) | [inline, virtual] |
If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations.
out_SSO | The output, in the range [0,1]. |
Definition at line 83 of file CTopLCDetectorBase.h.
virtual CPose3DPDFPtr mrpt::hmtslam::CTopLCDetectorBase::computeTopologicalObservationModel | ( | const THypothesisID & | hypID, |
const CHMHMapNodePtr & | currentArea, | ||
const CHMHMapNodePtr & | refArea, | ||
double & | out_log_lik | ||
) | [pure virtual] |
This method must compute the topological observation model.
out_log_lik | The output, a log-likelihood. |
Implemented in mrpt::hmtslam::CTopLCDetector_FabMap, and mrpt::hmtslam::CTopLCDetector_GridMatching.
virtual void mrpt::hmtslam::CTopLCDetectorBase::OnNewPose | ( | const TPoseID & | poseID, |
const CSensoryFrame * | SF | ||
) | [inline, virtual] |
Hook method for being warned about the insertion of a new poses into the maps.
This should be independent of hypothesis IDs.
Reimplemented in mrpt::hmtslam::CTopLCDetector_FabMap, and mrpt::hmtslam::CTopLCDetector_GridMatching.
Definition at line 96 of file CTopLCDetectorBase.h.
virtual void mrpt::hmtslam::CTopLCDetectorBase::reset | ( | ) | [inline, virtual] |
Reset the internal state of the TLCD, if any.
This is needed since the objects are created while loading HMT-SLAM options, but the algorithm may be re-started after that at any time.
Definition at line 64 of file CTopLCDetectorBase.h.
CHMTSLAM* mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam [protected] |
Definition at line 49 of file CTopLCDetectorBase.h.
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