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mrpt::hmtslam::CTopLCDetector_GridMatching Class Reference


Detailed Description

Definition at line 41 of file CTopLCDetector_GridMatching.h.

#include <mrpt/hmtslam/CTopLCDetector_GridMatching.h>

Inheritance diagram for mrpt::hmtslam::CTopLCDetector_GridMatching:
Inheritance graph
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List of all members.

Classes

struct  TOptions
 Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM. More...

Public Member Functions

virtual ~CTopLCDetector_GridMatching ()
 Destructor.
CPose3DPDFPtr computeTopologicalObservationModel (const THypothesisID &hypID, const CHMHMapNodePtr &currentArea, const CHMHMapNodePtr &refArea, double &out_log_lik)
 This method must compute the topological observation model.
void OnNewPose (const TPoseID &poseID, const CSensoryFrame *SF)
 Hook method for being warned about the insertion of a new poses into the maps.

Static Public Member Functions

static CTopLCDetectorBasecreateNewInstance (CHMTSLAM *hmtslam)
 A class factory, to be implemented in derived classes.

Protected Member Functions

 CTopLCDetector_GridMatching (CHMTSLAM *hmtslam)

Constructor & Destructor Documentation

mrpt::hmtslam::CTopLCDetector_GridMatching::CTopLCDetector_GridMatching ( CHMTSLAM hmtslam ) [protected]
virtual mrpt::hmtslam::CTopLCDetector_GridMatching::~CTopLCDetector_GridMatching (  ) [virtual]

Destructor.


Member Function Documentation

CPose3DPDFPtr mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel ( const THypothesisID hypID,
const CHMHMapNodePtr currentArea,
const CHMHMapNodePtr refArea,
double &  out_log_lik 
) [virtual]

This method must compute the topological observation model.

Parameters:
out_log_likThe output, a log-likelihood.
Returns:
NULL, 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".

Implements mrpt::hmtslam::CTopLCDetectorBase.

static CTopLCDetectorBase* mrpt::hmtslam::CTopLCDetector_GridMatching::createNewInstance ( CHMTSLAM hmtslam ) [inline, static]

A class factory, to be implemented in derived classes.

Definition at line 49 of file CTopLCDetector_GridMatching.h.

void mrpt::hmtslam::CTopLCDetector_GridMatching::OnNewPose ( const TPoseID poseID,
const CSensoryFrame SF 
) [virtual]

Hook method for being warned about the insertion of a new poses into the maps.

This should be independent of hypothesis IDs.

Reimplemented from mrpt::hmtslam::CTopLCDetectorBase.




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