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<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_base.html">CTopLCDetectorBase</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pro-methods">Protected Member Functions</a> |
<a href="#pro-attribs">Protected Attributes</a> </div>
<div class="headertitle">
<div class="title">mrpt::hmtslam::CTopLCDetectorBase 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::CTopLCDetectorBase" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>mrpt::slam::CHMTSLAM </dd></dl>
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<p><code>#include <<a class="el" href="_c_top_l_c_detector_base_8h_source.html">mrpt/hmtslam/CTopLCDetectorBase.h</a>></code></p>
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Inheritance diagram for mrpt::hmtslam::CTopLCDetectorBase:</div>
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<div class="center"><img src="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base__inherit__graph.png" border="0" usemap="#mrpt_1_1hmtslam_1_1_c_top_l_c_detector_base_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hmtslam_1_1_c_top_l_c_detector_base_inherit__map" id="mrpt_1_1hmtslam_1_1_c_top_l_c_detector_base_inherit__map">
<area shape="rect" id="node3" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html" title="mrpt::hmtslam::CTopLCDetector_FabMap" alt="" coords="5,80,272,107"/><area shape="rect" id="node5" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___grid_matching.html" title="mrpt::hmtslam::CTopLCDetector_GridMatching" alt="" coords="297,80,593,107"/></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_base-members.html">List of all members.</a></p>
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<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_base.html#acf6bb7e4a951d4e0d47c9c25af9303ac">~CTopLCDetectorBase</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class factory, to be implemented in derived classes. <a href="#acf6bb7e4a951d4e0d47c9c25af9303ac"></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 <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_base.html#afbc367b6caf7229a78d0131ad386eba7">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)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must compute the topological observation model. <a href="#afbc367b6caf7229a78d0131ad386eba7"></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 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#ab30aae9e38f985976dedfc5fa0376e6b">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="#ab30aae9e38f985976dedfc5fa0376e6b"></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_base.html#a5ed6393e890f89ef98759002f3a44ba8">CTopLCDetectorBase</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> *htmslam_obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Instances can be generated through a class factory only. <a href="#a5ed6393e890f89ef98759002f3a44ba8"></a><br/></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"><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>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a5ed6393e890f89ef98759002f3a44ba8"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetectorBase::CTopLCDetectorBase" ref="a5ed6393e890f89ef98759002f3a44ba8" args="(CHMTSLAM *htmslam_obj)" -->
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<td class="memname">mrpt::hmtslam::CTopLCDetectorBase::CTopLCDetectorBase </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>htmslam_obj</em></td><td>)</td>
<td><code> [inline, protected]</code></td>
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<p>Instances can be generated through a class factory only. </p>
<p>Definition at line <a class="el" href="_c_top_l_c_detector_base_8h_source.html#l00053">53</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="acf6bb7e4a951d4e0d47c9c25af9303ac"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetectorBase::~CTopLCDetectorBase" ref="acf6bb7e4a951d4e0d47c9c25af9303ac" args="()" -->
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<td class="memname">virtual mrpt::hmtslam::CTopLCDetectorBase::~CTopLCDetectorBase </td>
<td>(</td>
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<td><code> [inline, virtual]</code></td>
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<p>A class factory, to be implemented in derived classes. </p>
<p>Destructor </p>
<p>Definition at line <a class="el" href="_c_top_l_c_detector_base_8h_source.html#l00060">60</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 Function Documentation</h2>
<a class="anchor" id="ae30df0af1bc6d818e2890c7f6192c3f2"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetectorBase::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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<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></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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<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>
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</dd>
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<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="afbc367b6caf7229a78d0131ad386eba7"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetectorBase::computeTopologicalObservationModel" ref="afbc367b6caf7229a78d0131ad386eba7" args="(const THypothesisID &hypID, const CHMHMapNodePtr &currentArea, const CHMHMapNodePtr &refArea, double &out_log_lik)=0" -->
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<td class="memname">virtual <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> mrpt::hmtslam::CTopLCDetectorBase::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="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="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> [pure 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 (an empty smart pointer), or a PDF of the estimated translation between the two areas (can be a multi-modal PDF). </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___grid_matching.html#a55c15e76d47524eeb9cbba9de5f47f05">mrpt::hmtslam::CTopLCDetector_GridMatching</a>, and <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a1fd334766c7b8b7a0ad790513689d9a7">mrpt::hmtslam::CTopLCDetector_FabMap</a>.</p>
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<a class="anchor" id="ab30aae9e38f985976dedfc5fa0376e6b"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetectorBase::OnNewPose" ref="ab30aae9e38f985976dedfc5fa0376e6b" args="(const TPoseID &poseID, const CSensoryFrame *SF)" -->
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<td class="memname">virtual void mrpt::hmtslam::CTopLCDetectorBase::OnNewPose </td>
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<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 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>
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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 in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___grid_matching.html#abc73ff14c32e2bf562ac03931506062e">mrpt::hmtslam::CTopLCDetector_GridMatching</a>, and <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html#a9fe35c9919c08187733053f830b71662">mrpt::hmtslam::CTopLCDetector_FabMap</a>.</p>
<p>Definition at line <a class="el" href="_c_top_l_c_detector_base_8h_source.html#l00097">97</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="a6a489ca853dea8add48eeeb08e116060"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetectorBase::reset" ref="a6a489ca853dea8add48eeeb08e116060" args="()" -->
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<td class="memname">virtual void mrpt::hmtslam::CTopLCDetectorBase::reset </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="a148d369add8df9d47e5e57062048d492"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetectorBase::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]</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>
