Definition at line 41 of file CTopLCDetector_GridMatching.h.
#include <mrpt/hmtslam/CTopLCDetector_GridMatching.h>
Classes | |
struct | TOptions |
Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM. More... | |
Public Member Functions | |
virtual | ~CTopLCDetector_GridMatching () |
Destructor. | |
CPose3DPDFPtr | computeTopologicalObservationModel (const THypothesisID &hypID, const CHMHMapNodePtr ¤tArea, 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. | |
Static Public Member Functions | |
static CTopLCDetectorBase * | createNewInstance (CHMTSLAM *hmtslam) |
A class factory, to be implemented in derived classes. | |
Protected Member Functions | |
CTopLCDetector_GridMatching (CHMTSLAM *hmtslam) |
mrpt::hmtslam::CTopLCDetector_GridMatching::CTopLCDetector_GridMatching | ( | CHMTSLAM * | hmtslam | ) | [protected] |
virtual mrpt::hmtslam::CTopLCDetector_GridMatching::~CTopLCDetector_GridMatching | ( | ) | [virtual] |
Destructor.
CPose3DPDFPtr mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel | ( | const THypothesisID & | hypID, |
const CHMHMapNodePtr & | currentArea, | ||
const CHMHMapNodePtr & | refArea, | ||
double & | out_log_lik | ||
) | [virtual] |
This method must compute the topological observation model.
out_log_lik | The output, a log-likelihood. |
Implements mrpt::hmtslam::CTopLCDetectorBase.
static CTopLCDetectorBase* mrpt::hmtslam::CTopLCDetector_GridMatching::createNewInstance | ( | CHMTSLAM * | hmtslam | ) | [inline, static] |
A class factory, to be implemented in derived classes.
Definition at line 49 of file CTopLCDetector_GridMatching.h.
void mrpt::hmtslam::CTopLCDetector_GridMatching::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.
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