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 00029 #ifndef _CTopLCDetector_GridMatching_H 00030 #define _CTopLCDetector_GridMatching_H 00031 00032 #include <mrpt/hmtslam/CTopLCDetectorBase.h> 00033 #include <mrpt/slam/CGridMapAligner.h> 00034 00035 namespace mrpt 00036 { 00037 namespace hmtslam 00038 { 00039 using namespace mrpt::slam; 00040 00041 class HMTSLAM_IMPEXP CTopLCDetector_GridMatching : public CTopLCDetectorBase 00042 { 00043 protected: 00044 CTopLCDetector_GridMatching( CHMTSLAM *hmtslam ); 00045 00046 public: 00047 /** A class factory, to be implemented in derived classes. 00048 */ 00049 static CTopLCDetectorBase* createNewInstance( CHMTSLAM *hmtslam ) 00050 { 00051 return static_cast<CTopLCDetectorBase*>(new CTopLCDetector_GridMatching(hmtslam)); 00052 } 00053 00054 /** Destructor */ 00055 virtual ~CTopLCDetector_GridMatching(); 00056 00057 /** This method must compute the topological observation model. 00058 * \param out_log_lik The output, a log-likelihood. 00059 * \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". 00060 */ 00061 CPose3DPDFPtr computeTopologicalObservationModel( 00062 const THypothesisID &hypID, 00063 const CHMHMapNodePtr ¤tArea, 00064 const CHMHMapNodePtr &refArea, 00065 double &out_log_lik 00066 ); 00067 00068 /** Hook method for being warned about the insertion of a new poses into the maps. 00069 * This should be independent of hypothesis IDs. 00070 */ 00071 void OnNewPose( 00072 const TPoseID &poseID, 00073 const CSensoryFrame *SF ); 00074 00075 00076 /** Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM 00077 */ 00078 struct TOptions : public utils::CLoadableOptions 00079 { 00080 /** Initialization of default params 00081 */ 00082 TOptions(); 00083 00084 00085 /** Options for the grid-to-grid matching algorithm */ 00086 mrpt::slam::CGridMapAligner::TConfigParams matchingOptions; 00087 00088 /** Load parameters from configuration source 00089 */ 00090 void loadFromConfigFile( 00091 const mrpt::utils::CConfigFileBase &source, 00092 const std::string §ion); 00093 00094 /** This method must display clearly all the contents of the structure in textual form, sending it to a CStream. 00095 */ 00096 void dumpToTextStream(CStream &out) const; 00097 00098 }; 00099 00100 }; // end class 00101 00102 } // end namespace 00103 } // end namespace 00104 00105 00106 #endif
Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN: at Sat Mar 26 06:40:17 UTC 2011 |