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63 [[maybe_unused]]
const TPoseID& poseID1,
64 [[maybe_unused]]
const TPoseID& poseID2,
65 [[maybe_unused]]
double& out_SSO)
75 [[maybe_unused]]
const TPoseID& poseID,
79 using Ptr = std::shared_ptr<CTopLCDetectorBase>;
std::shared_ptr< mrpt::hmtslam ::CHMHMapNode > Ptr
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
virtual bool computeSSOBetweenObservations([[maybe_unused]] const THypothesisID &hypID, [[maybe_unused]] const TPoseID &poseID1, [[maybe_unused]] const TPoseID &poseID2, [[maybe_unused]] double &out_SSO)
If implemented, this method provides the evaluation of an additional term to be added to the SSO betw...
CTopLCDetectorBase(CHMTSLAM *htmslam_obj)
Instances can be generated through a class factory only.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
virtual void reset()
Reset the internal state of the TLCD, if any.
virtual ~CTopLCDetectorBase()=default
A class factory, to be implemented in derived classes.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
virtual mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(const THypothesisID &hypID, const CHMHMapNode::Ptr ¤tArea, const CHMHMapNode::Ptr &refArea, double &out_log_lik)=0
This method must compute the topological observation model.
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
virtual void OnNewPose([[maybe_unused]] const TPoseID &poseID, [[maybe_unused]] const mrpt::obs::CSensoryFrame *SF)
Hook method for being warned about the insertion of a new poses into the maps.
std::shared_ptr< CPose3DPDF > Ptr
std::shared_ptr< CTopLCDetectorBase > Ptr
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
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