10#ifndef _CTopLCDetector_GridMatching_H
11#define _CTopLCDetector_GridMatching_H
43 const CHMHMapNodePtr ¤tArea,
44 const CHMHMapNodePtr &refArea,
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
mrpt::poses::CPose3DPDFPtr computeTopologicalObservationModel(const THypothesisID &hypID, const CHMHMapNodePtr ¤tArea, const CHMHMapNodePtr &refArea, double &out_log_lik)
This method must compute the topological observation model.
CTopLCDetector_GridMatching(CHMTSLAM *hmtslam)
static CTopLCDetectorBase * createNewInstance(CHMTSLAM *hmtslam)
A class factory, to be implemented in derived classes.
void OnNewPose(const TPoseID &poseID, const mrpt::obs::CSensoryFrame *SF)
Hook method for being warned about the insertion of a new poses into the maps.
virtual ~CTopLCDetector_GridMatching()
Destructor.
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
The ICP algorithm configuration data.
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
TOptions()
Initialization of default params.
mrpt::slam::CGridMapAligner::TConfigParams matchingOptions
Options for the grid-to-grid matching algorithm.
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.