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mrpt::hmtslam::CTopLCDetectorBase Class Reference


Detailed Description

The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.

See also:
mrpt::slam::CHMTSLAM

Definition at line 46 of file CTopLCDetectorBase.h.

#include <mrpt/hmtslam/CTopLCDetectorBase.h>

Inheritance diagram for mrpt::hmtslam::CTopLCDetectorBase:
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List of all members.

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 &currentArea, 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

CHMTSLAMm_hmtslam

Constructor & Destructor Documentation

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.


Member Function Documentation

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.

Parameters:
out_SSOThe output, in the range [0,1].
Returns:
true if computed SSO is meaningful. The default virtual method returns false.

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.

Parameters:
out_log_likThe output, a log-likelihood.
Returns:
NULL (an empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).

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.


Member Data Documentation

Definition at line 49 of file CTopLCDetectorBase.h.




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