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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1hmtslam.html">hmtslam</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html">CTopLCDetector_FabMap</a> </li>
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<a href="#nested-classes">Classes</a> |
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
<a href="#pro-methods">Protected Member Functions</a> |
<a href="#pro-attribs">Protected Attributes</a> </div>
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<div class="title">mrpt::hmtslam::CTopLCDetector_FabMap Class Reference<div class="ingroups"><a class="el" href="group__mrpt__hmtslam__grp.html">[mrpt-hmtslam]</a></div></div> </div>
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<!-- doxytag: class="mrpt::hmtslam::CTopLCDetector_FabMap" --><!-- doxytag: inherits="mrpt::hmtslam::CTopLCDetectorBase" -->
<p><code>#include <<a class="el" href="_c_top_l_c_detector___fab_map_8h_source.html">mrpt/hmtslam/CTopLCDetector_FabMap.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hmtslam::CTopLCDetector_FabMap:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map__inherit__graph.png" border="0" usemap="#mrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_inherit__map" id="mrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_inherit__map">
<area shape="rect" id="node2" 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." alt="" coords="17,5,260,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html">TOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Options for a TLC-detector of type FabMap, used from <a class="el" 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>. <a href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a513f897ffb30d9e77309f14da50b08a7">~CTopLCDetector_FabMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a513f897ffb30d9e77309f14da50b08a7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a1fd334766c7b8b7a0ad790513689d9a7">computeTopologicalObservationModel</a> (const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypID, const <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> &currentArea, const <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> &refArea, double &out_log_lik)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must compute the topological observation model. <a href="#a1fd334766c7b8b7a0ad790513689d9a7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a9fe35c9919c08187733053f830b71662">OnNewPose</a> (const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &poseID, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> *SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Hook method for being warned about the insertion of a new poses into the maps. <a href="#a9fe35c9919c08187733053f830b71662"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html#a6a489ca853dea8add48eeeb08e116060">reset</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset the internal state of the TLCD, if any. <a href="#a6a489ca853dea8add48eeeb08e116060"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html#ae30df0af1bc6d818e2890c7f6192c3f2">computeSSOBetweenObservations</a> (const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypID, const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &poseID1, const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &poseID2, double &out_SSO)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations. <a href="#ae30df0af1bc6d818e2890c7f6192c3f2"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html">CTopLCDetectorBase</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#aa51a0195334785a0f1785f21e84c1a6d">createNewInstance</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> *hmtslam)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class factory, to be implemented in derived classes. <a href="#aa51a0195334785a0f1785f21e84c1a6d"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#ad1cfb6cc239b725f64f084fac79d9cc0">CTopLCDetector_FabMap</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> *hmtslam)</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a84d29c903f1846ec9783faebd0ed7a2e">m_fabmap</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html#a148d369add8df9d47e5e57062048d492">m_hmtslam</a></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ad1cfb6cc239b725f64f084fac79d9cc0"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap" ref="ad1cfb6cc239b725f64f084fac79d9cc0" args="(CHMTSLAM *hmtslam)" -->
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<td class="memname">mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> * </td>
<td class="paramname"><em>hmtslam</em></td><td>)</td>
<td><code> [protected]</code></td>
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<p>Referenced by <a class="el" href="_c_top_l_c_detector___fab_map_8h_source.html#l00048">createNewInstance()</a>.</p>
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<a class="anchor" id="a513f897ffb30d9e77309f14da50b08a7"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetector_FabMap::~CTopLCDetector_FabMap" ref="a513f897ffb30d9e77309f14da50b08a7" args="()" -->
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<td class="memname">virtual mrpt::hmtslam::CTopLCDetector_FabMap::~CTopLCDetector_FabMap </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ae30df0af1bc6d818e2890c7f6192c3f2"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetector_FabMap::computeSSOBetweenObservations" ref="ae30df0af1bc6d818e2890c7f6192c3f2" args="(const THypothesisID &hypID, const TPoseID &poseID1, const TPoseID &poseID2, double &out_SSO)" -->
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<td class="memname">virtual bool mrpt::hmtslam::CTopLCDetectorBase::computeSSOBetweenObservations </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypID</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
<td class="paramname"><em>poseID1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
<td class="paramname"><em>poseID2</em>, </td>
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<td class="paramtype">double & </td>
<td class="paramname"><em>out_SSO</em> </td>
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<td>)</td>
<td></td><td><code> [inline, virtual, inherited]</code></td>
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<p>If implemented, this method provides the evaluation of an additional term to be added to the SSO between each pair of observations. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_SSO</td><td>The output, in the range [0,1]. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if computed SSO is meaningful. The default virtual method returns false. </dd></dl>
<p>Definition at line <a class="el" href="_c_top_l_c_detector_base_8h_source.html#l00084">84</a> of file <a class="el" href="_c_top_l_c_detector_base_8h_source.html">CTopLCDetectorBase.h</a>.</p>
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<a class="anchor" id="a1fd334766c7b8b7a0ad790513689d9a7"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetector_FabMap::computeTopologicalObservationModel" ref="a1fd334766c7b8b7a0ad790513689d9a7" args="(const THypothesisID &hypID, const CHMHMapNodePtr &currentArea, const CHMHMapNodePtr &refArea, double &out_log_lik)" -->
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> mrpt::hmtslam::CTopLCDetector_FabMap::computeTopologicalObservationModel </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypID</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> & </td>
<td class="paramname"><em>currentArea</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> & </td>
<td class="paramname"><em>refArea</em>, </td>
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<td class="paramtype">double & </td>
<td class="paramname"><em>out_log_lik</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>This method must compute the topological observation model. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_log_lik</td><td>The output, a log-likelihood. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>NULL (empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF). </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html#afbc367b6caf7229a78d0131ad386eba7">mrpt::hmtslam::CTopLCDetectorBase</a>.</p>
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<a class="anchor" id="aa51a0195334785a0f1785f21e84c1a6d"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetector_FabMap::createNewInstance" ref="aa51a0195334785a0f1785f21e84c1a6d" args="(CHMTSLAM *hmtslam)" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html">CTopLCDetectorBase</a>* mrpt::hmtslam::CTopLCDetector_FabMap::createNewInstance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> * </td>
<td class="paramname"><em>hmtslam</em></td><td>)</td>
<td><code> [inline, static]</code></td>
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<p>A class factory, to be implemented in derived classes. </p>
<p>Definition at line <a class="el" href="_c_top_l_c_detector___fab_map_8h_source.html#l00048">48</a> of file <a class="el" href="_c_top_l_c_detector___fab_map_8h_source.html">CTopLCDetector_FabMap.h</a>.</p>
<p>References <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#ad1cfb6cc239b725f64f084fac79d9cc0">CTopLCDetector_FabMap()</a>.</p>
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<a class="anchor" id="a9fe35c9919c08187733053f830b71662"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetector_FabMap::OnNewPose" ref="a9fe35c9919c08187733053f830b71662" args="(const TPoseID &poseID, const CSensoryFrame *SF)" -->
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<td class="memname">void mrpt::hmtslam::CTopLCDetector_FabMap::OnNewPose </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
<td class="paramname"><em>poseID</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> * </td>
<td class="paramname"><em>SF</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Hook method for being warned about the insertion of a new poses into the maps. </p>
<p>This should be independent of hypothesis IDs. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html#ab30aae9e38f985976dedfc5fa0376e6b">mrpt::hmtslam::CTopLCDetectorBase</a>.</p>
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<a class="anchor" id="a6a489ca853dea8add48eeeb08e116060"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetector_FabMap::reset" ref="a6a489ca853dea8add48eeeb08e116060" args="()" -->
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<td class="memname">virtual void mrpt::hmtslam::CTopLCDetectorBase::reset </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual, inherited]</code></td>
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<p>Reset the internal state of the TLCD, if any. </p>
<p>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. </p>
<p>Definition at line <a class="el" href="_c_top_l_c_detector_base_8h_source.html#l00065">65</a> of file <a class="el" href="_c_top_l_c_detector_base_8h_source.html">CTopLCDetectorBase.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a84d29c903f1846ec9783faebd0ed7a2e"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetector_FabMap::m_fabmap" ref="a84d29c903f1846ec9783faebd0ed7a2e" args="" -->
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<td class="memname">void* <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a84d29c903f1846ec9783faebd0ed7a2e">mrpt::hmtslam::CTopLCDetector_FabMap::m_fabmap</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_top_l_c_detector___fab_map_8h_source.html#l00043">43</a> of file <a class="el" href="_c_top_l_c_detector___fab_map_8h_source.html">CTopLCDetector_FabMap.h</a>.</p>
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<a class="anchor" id="a148d369add8df9d47e5e57062048d492"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetector_FabMap::m_hmtslam" ref="a148d369add8df9d47e5e57062048d492" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a>* <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html#a148d369add8df9d47e5e57062048d492">mrpt::hmtslam::CTopLCDetectorBase::m_hmtslam</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_top_l_c_detector_base_8h_source.html#l00050">50</a> of file <a class="el" href="_c_top_l_c_detector_base_8h_source.html">CTopLCDetectorBase.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
