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CTopLCDetectorBase.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
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 #ifndef  _CTopLCDetectorBase_H
00029 #define  _CTopLCDetectorBase_H
00030 
00031 #include <mrpt/hmtslam/HMT_SLAM_common.h>
00032 
00033 #include <mrpt/poses/CPose3DPDF.h>
00034 #include <mrpt/slam/CSensoryFrame.h>
00035 
00036 
00037 namespace mrpt
00038 {
00039         namespace hmtslam
00040         {
00041                 using namespace mrpt::slam;
00042 
00043                 /** The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM
00044                   *  \sa mrpt::slam::CHMTSLAM
00045                   */
00046                 class HMTSLAM_IMPEXP CTopLCDetectorBase
00047                 {
00048                 protected:
00049                         CHMTSLAM        *m_hmtslam;
00050 
00051                         /** Instances can be generated through a class factory only */
00052                         CTopLCDetectorBase( CHMTSLAM *htmslam_obj ) : m_hmtslam(htmslam_obj) {  }
00053 
00054                 public:
00055                         /** A class factory, to be implemented in derived classes. */
00056                         //static CTopLCDetectorBase* createNewInstance();
00057 
00058                         /** Destructor */
00059                         virtual ~CTopLCDetectorBase() { }
00060 
00061                         /** Reset the internal state of the TLCD, if any.
00062                           *  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.
00063                           */
00064                         virtual void reset() {
00065                                 // By default, do nothing.
00066                         }
00067 
00068                         /** This method must compute the topological observation model.
00069                           * \param out_log_lik The output, a log-likelihood.
00070                           * \return NULL (an empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).
00071                           */
00072                         virtual CPose3DPDFPtr computeTopologicalObservationModel(
00073                                 const THypothesisID             &hypID,
00074                                 const CHMHMapNodePtr    &currentArea,
00075                                 const CHMHMapNodePtr    &refArea,
00076                                 double                                  &out_log_lik
00077                                  ) = 0;
00078 
00079                         /** If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations.
00080                           * \param out_SSO The output, in the range [0,1].
00081                           * \return true if computed SSO is meaningful. The default virtual method returns false.
00082                           */
00083                         virtual bool computeSSOBetweenObservations(
00084                                 const THypothesisID             &hypID,
00085                                 const TPoseID                   &poseID1,
00086                                 const TPoseID                   &poseID2,
00087                                 double                                  &out_SSO
00088                                 )
00089                         {
00090                                 return false;
00091                         }
00092 
00093                         /** Hook method for being warned about the insertion of a new poses into the maps.
00094                           *  This should be independent of hypothesis IDs.
00095                           */
00096                         virtual void OnNewPose(
00097                                 const TPoseID                   &poseID,
00098                                 const CSensoryFrame             *SF )
00099                         { }
00100 
00101                 }; // end class
00102 
00103                 typedef stlplus::smart_ptr<CTopLCDetectorBase> CTopLCDetectorBasePtr;
00104 
00105         } // end namespace
00106 } // end namespace
00107 #endif



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