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<div class="title">CTopLCDetector_FabMap.h</div> </div>
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<a href="_c_top_l_c_detector___fab_map_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef _CTopLCDetector_FabMap_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define _CTopLCDetector_FabMap_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_top_l_c_detector_base_8h.html">mrpt/hmtslam/CTopLCDetectorBase.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>hmtslam
<a name="l00036"></a>00036 {<span class="comment"></span>
<a name="l00037"></a>00037 <span class="comment"> /** \ingroup mrpt_hmtslam_grp */</span>
<a name="l00038"></a>00038 <span class="keyword">class </span>CTopLCDetector_FabMap : <span class="keyword">public</span> CTopLCDetectorBase
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">protected</span>:
<a name="l00041"></a>00041 <a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#ad1cfb6cc239b725f64f084fac79d9cc0">CTopLCDetector_FabMap</a>( <a class="code" href="namespacemrpt_1_1hmtslam.html#a3cbc1dce012698b238004879011b8cee">CHMTSLAM</a> *hmtslam );
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a84d29c903f1846ec9783faebd0ed7a2e">00043</a> <span class="keywordtype">void</span> *<a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a84d29c903f1846ec9783faebd0ed7a2e">m_fabmap</a>; <span class="comment">// FabMapInstance*</span>
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** A class factory, to be implemented in derived classes.</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#aa51a0195334785a0f1785f21e84c1a6d">00048</a> <span class="keyword">static</span> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html" title="The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.">CTopLCDetectorBase</a>* <a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#aa51a0195334785a0f1785f21e84c1a6d" title="A class factory, to be implemented in derived classes.">createNewInstance</a>( <a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html" title="An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).">CHMTSLAM</a> *hmtslam )
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html" title="The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.">CTopLCDetectorBase</a>*<span class="keyword">></span>(<span class="keyword">new</span> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#ad1cfb6cc239b725f64f084fac79d9cc0">CTopLCDetector_FabMap</a>(hmtslam));
<a name="l00051"></a>00051 }
<a name="l00052"></a>00052 <span class="comment"></span>
<a name="l00053"></a>00053 <span class="comment"> /** Destructor */</span>
<a name="l00054"></a>00054 <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a513f897ffb30d9e77309f14da50b08a7" title="Destructor.">~CTopLCDetector_FabMap</a>();
<a name="l00055"></a>00055 <span class="comment"></span>
<a name="l00056"></a>00056 <span class="comment"> /** This method must compute the topological observation model.</span>
<a name="l00057"></a>00057 <span class="comment"> * \param out_log_lik The output, a log-likelihood.</span>
<a name="l00058"></a>00058 <span class="comment"> * \return NULL (empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF).</span>
<a name="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a>00060 <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a1fd334766c7b8b7a0ad790513689d9a7" title="This method must compute the topological observation model.">computeTopologicalObservationModel</a>(
<a name="l00061"></a>00061 <span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee" title="An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...">THypothesisID</a> &hypID,
<a name="l00062"></a>00062 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> &currentArea,
<a name="l00063"></a>00063 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> &refArea,
<a name="l00064"></a>00064 <span class="keywordtype">double</span> &out_log_lik
<a name="l00065"></a>00065 );
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** Hook method for being warned about the insertion of a new poses into the maps.</span>
<a name="l00068"></a>00068 <span class="comment"> * This should be independent of hypothesis IDs.</span>
<a name="l00069"></a>00069 <span class="comment"> */</span>
<a name="l00070"></a>00070 <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a9fe35c9919c08187733053f830b71662" title="Hook method for being warned about the insertion of a new poses into the maps.">OnNewPose</a>(
<a name="l00071"></a>00071 <span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf" title="An integer number uniquely identifying each robot pose stored in HMT-SLAM.">TPoseID</a> &poseID,
<a name="l00072"></a>00072 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> *SF );
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Options for a TLC-detector of type FabMap, used from CHMTSLAM </span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a>00077 <span class="keyword">struct </span>TOptions : <span class="keyword">public</span> utils::<a class="code" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">CLoadableOptions</a>
<a name="l00078"></a>00078 {<span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Initialization of default params</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 <a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#a8b7d7ee9dab36a28596acabe03e3f3c4" title="Initialization of default params.">TOptions</a>();
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Load parameters from configuration source</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a>00085 <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#aacc858f04409634973215a76eba122db" title="Load parameters from configuration source.">loadFromConfigFile</a>(
<a name="l00086"></a>00086 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &source,
<a name="l00087"></a>00087 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section);
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /** This method must display clearly all the contents of the structure in textual form, sending it to a CStream.</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a>00091 <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#a38cdb876763f728d590763d293143b05" title="This method must display clearly all the contents of the structure in textual form, sending it to a CStream.">dumpToTextStream</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out) <span class="keyword">const</span>;
<a name="l00092"></a>00092
<a name="l00093"></a><a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#a12cd6df890e15cca6909e80b0fb37fac">00093</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#a1668dccdbdac91791a5e13658df40beb">vocab_path</a>,<a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#a12cd6df890e15cca6909e80b0fb37fac">vocabName</a>;
<a name="l00094"></a><a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#a52629a76d8a3a934f147155fe5c36146">00094</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#a52629a76d8a3a934f147155fe5c36146">p_obs_given_exists</a>, <a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#a695f2cc2dd1e8874ecf6d49059a6300c">p_at_new_place</a>, <a class="code" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#a6f510c21963fd583ce2064d6e755a17e">df_lik_smooth</a>;
<a name="l00095"></a>00095 };
<a name="l00096"></a>00096
<a name="l00097"></a>00097
<a name="l00098"></a>00098 }; <span class="comment">// end class</span>
<a name="l00099"></a>00099 } <span class="comment">// end namespace</span>
<a name="l00100"></a>00100 } <span class="comment">// end namespace</span>
<a name="l00101"></a>00101
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="preprocessor">#endif</span>
</pre></div></div>
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