CTopLCDetector_GridMatching.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef _CTopLCDetector_GridMatching_H
#define _CTopLCDetector_GridMatching_H

#include <mrpt/hmtslam/CTopLCDetectorBase.h>
#include <mrpt/slam/CGridMapAligner.h>

namespace mrpt
{
        namespace hmtslam
        {
                using namespace mrpt::slam;

                /** \ingroup mrpt_hmtslam_grp */
                class HMTSLAM_IMPEXP CTopLCDetector_GridMatching : public CTopLCDetectorBase
                {
                protected:
                        CTopLCDetector_GridMatching( CHMTSLAM *hmtslam );

                public:
                        /** A class factory, to be implemented in derived classes.
                          */
                        static CTopLCDetectorBase* createNewInstance( CHMTSLAM *hmtslam )
                        {
                                return static_cast<CTopLCDetectorBase*>(new CTopLCDetector_GridMatching(hmtslam));
                        }

                        /** Destructor */
                        virtual ~CTopLCDetector_GridMatching();

                        /** This method must compute the topological observation model.
                          * \param out_log_lik The output, a log-likelihood.
                          * \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".
                          */
                        CPose3DPDFPtr computeTopologicalObservationModel(
                                const THypothesisID             &hypID,
                                const CHMHMapNodePtr    &currentArea,
                                const CHMHMapNodePtr    &refArea,
                                double                                  &out_log_lik
                                 );

                        /** Hook method for being warned about the insertion of a new poses into the maps.
                          *  This should be independent of hypothesis IDs.
                          */
                        void OnNewPose(
                                const TPoseID                   &poseID,
                                const CSensoryFrame             *SF );


                        /** Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM 
                          */
                        struct TOptions : public utils::CLoadableOptions
                        {
                                /** Initialization of default params
                                  */
                                TOptions();


                                /** Options for the grid-to-grid matching algorithm */
                                mrpt::slam::CGridMapAligner::TConfigParams      matchingOptions;

                                /** Load parameters from configuration source
                                  */
                                void  loadFromConfigFile(
                                        const mrpt::utils::CConfigFileBase      &source,
                                        const std::string               &section);

                                /** This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
                                  */
                                void  dumpToTextStream(CStream  &out) const;

                        };

                }; // end class

        } // end namespace
} // end namespace


#endif