9#ifndef _CTopLCDetectorBase_H
10#define _CTopLCDetectorBase_H
54 const CHMHMapNodePtr ¤tArea,
55 const CHMHMapNodePtr &refArea,
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
virtual mrpt::poses::CPose3DPDFPtr computeTopologicalObservationModel(const THypothesisID &hypID, const CHMHMapNodePtr ¤tArea, const CHMHMapNodePtr &refArea, double &out_log_lik)=0
This method must compute the topological observation model.
CTopLCDetectorBase(CHMTSLAM *htmslam_obj)
Instances can be generated through a class factory only.
virtual void reset()
Reset the internal state of the TLCD, if any.
virtual 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 ~CTopLCDetectorBase()
A class factory, to be implemented in derived classes.
virtual bool computeSSOBetweenObservations(const THypothesisID &hypID, const TPoseID &poseID1, const TPoseID &poseID2, double &out_SSO)
If implemented, this method provides the evaluation of an additional term to be added to the SSO betw...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
stlplus::smart_ptr< CTopLCDetectorBase > CTopLCDetectorBasePtr
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.
struct BASE_IMPEXP CPose3DPDFPtr
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.