#include <mrpt/hmtslam/CTopLCDetector_GridMatching.h>
§ CTopLCDetector_GridMatching()
mrpt::hmtslam::CTopLCDetector_GridMatching::CTopLCDetector_GridMatching |
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CHMTSLAM * |
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§ ~CTopLCDetector_GridMatching()
virtual mrpt::hmtslam::CTopLCDetector_GridMatching::~CTopLCDetector_GridMatching |
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§ computeSSOBetweenObservations()
virtual bool mrpt::hmtslam::CTopLCDetectorBase::computeSSOBetweenObservations |
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const THypothesisID & |
hypID, |
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const TPoseID & |
poseID1, |
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const TPoseID & |
poseID2, |
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double & |
out_SSO |
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inlinevirtualinherited |
If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations.
- Parameters
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out_SSO | The output, in the range [0,1]. |
- Returns
- true if computed SSO is meaningful. The default virtual method returns false.
Definition at line 63 of file CTopLCDetectorBase.h.
References MRPT_UNUSED_PARAM.
§ computeTopologicalObservationModel()
mrpt::poses::CPose3DPDFPtr mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel |
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const THypothesisID & |
hypID, |
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const CHMHMapNodePtr & |
currentArea, |
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const CHMHMapNodePtr & |
refArea, |
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double & |
out_log_lik |
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virtual |
This method must compute the topological observation model.
- Parameters
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out_log_lik | The 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.
§ createNewInstance()
§ OnNewPose()
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.
§ reset()
virtual void mrpt::hmtslam::CTopLCDetectorBase::reset |
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inlinevirtualinherited |
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 44 of file CTopLCDetectorBase.h.
§ m_hmtslam
CHMTSLAM* mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam |
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protectedinherited |