mrpt::hmtslam::CTopLCDetector_FabMap Class Reference

#include <mrpt/hmtslam/CTopLCDetector_FabMap.h>

Inheritance diagram for mrpt::hmtslam::CTopLCDetector_FabMap:

List of all members.

Classes
struct	TOptions
	Options for a TLC-detector of type FabMap, used from CHMTSLAM. More...
Public Member Functions
virtual	~CTopLCDetector_FabMap ()
	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.
virtual void	reset ()
	Reset the internal state of the TLCD, if any.
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.
Static Public Member Functions
static CTopLCDetectorBase *	createNewInstance (CHMTSLAM *hmtslam)
	A class factory, to be implemented in derived classes.
Protected Member Functions
	CTopLCDetector_FabMap (CHMTSLAM *hmtslam)
Protected Attributes
void *	m_fabmap
CHMTSLAM *	m_hmtslam

---

Constructor & Destructor Documentation

mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap

(

CHMTSLAM *

hmtslam

)

[protected]

Referenced by createNewInstance().

virtual mrpt::hmtslam::CTopLCDetector_FabMap::~CTopLCDetector_FabMap

(

)

[virtual]

Destructor.

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Member Function Documentation

virtual bool mrpt::hmtslam::CTopLCDetectorBase::computeSSOBetweenObservations	(	const THypothesisID &	hypID,
		const TPoseID &	poseID1,
		const TPoseID &	poseID2,
		double &	out_SSO
	)		[inline, virtual, inherited]

If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations.

Parameters:

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 84 of file CTopLCDetectorBase.h.

CPose3DPDFPtr mrpt::hmtslam::CTopLCDetector_FabMap::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_lik

The output, a log-likelihood.

Returns:

NULL (empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).

Implements mrpt::hmtslam::CTopLCDetectorBase.

static CTopLCDetectorBase* mrpt::hmtslam::CTopLCDetector_FabMap::createNewInstance

(

CHMTSLAM *

hmtslam

)

[inline, static]

A class factory, to be implemented in derived classes.

Definition at line 48 of file CTopLCDetector_FabMap.h.

References CTopLCDetector_FabMap().

void mrpt::hmtslam::CTopLCDetector_FabMap::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.

virtual void mrpt::hmtslam::CTopLCDetectorBase::reset

(

)

[inline, virtual, inherited]

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 65 of file CTopLCDetectorBase.h.

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Member Data Documentation

void* mrpt::hmtslam::CTopLCDetector_FabMap::m_fabmap [protected]

Definition at line 43 of file CTopLCDetector_FabMap.h.

CHMTSLAM* mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam [protected, inherited]

Definition at line 50 of file CTopLCDetectorBase.h.