00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 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 00029 #ifndef _CTopLCDetector_GridMatching_H 00030 #define _CTopLCDetector_GridMatching_H 00031 00032 #include <mrpt/hmtslam/CTopLCDetectorBase.h> 00033 #include <mrpt/slam/CGridMapAligner.h> 00034 00035 namespace mrpt 00036 { 00037 namespace hmtslam 00038 { 00039 using namespace mrpt::slam; 00040 00041 /** \ingroup mrpt_hmtslam_grp */ 00042 class HMTSLAM_IMPEXP CTopLCDetector_GridMatching : public CTopLCDetectorBase 00043 { 00044 protected: 00045 CTopLCDetector_GridMatching( CHMTSLAM *hmtslam ); 00046 00047 public: 00048 /** A class factory, to be implemented in derived classes. 00049 */ 00050 static CTopLCDetectorBase* createNewInstance( CHMTSLAM *hmtslam ) 00051 { 00052 return static_cast<CTopLCDetectorBase*>(new CTopLCDetector_GridMatching(hmtslam)); 00053 } 00054 00055 /** Destructor */ 00056 virtual ~CTopLCDetector_GridMatching(); 00057 00058 /** This method must compute the topological observation model. 00059 * \param out_log_lik The output, a log-likelihood. 00060 * \return 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". 00061 */ 00062 CPose3DPDFPtr computeTopologicalObservationModel( 00063 const THypothesisID &hypID, 00064 const CHMHMapNodePtr ¤tArea, 00065 const CHMHMapNodePtr &refArea, 00066 double &out_log_lik 00067 ); 00068 00069 /** Hook method for being warned about the insertion of a new poses into the maps. 00070 * This should be independent of hypothesis IDs. 00071 */ 00072 void OnNewPose( 00073 const TPoseID &poseID, 00074 const CSensoryFrame *SF ); 00075 00076 00077 /** Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM 00078 */ 00079 struct TOptions : public utils::CLoadableOptions 00080 { 00081 /** Initialization of default params 00082 */ 00083 TOptions(); 00084 00085 00086 /** Options for the grid-to-grid matching algorithm */ 00087 mrpt::slam::CGridMapAligner::TConfigParams matchingOptions; 00088 00089 /** Load parameters from configuration source 00090 */ 00091 void loadFromConfigFile( 00092 const mrpt::utils::CConfigFileBase &source, 00093 const std::string §ion); 00094 00095 /** This method must display clearly all the contents of the structure in textual form, sending it to a CStream. 00096 */ 00097 void dumpToTextStream(CStream &out) const; 00098 00099 }; 00100 00101 }; // end class 00102 00103 } // end namespace 00104 } // end namespace 00105 00106 00107 #endif
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