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61 const std::string& section)
override;
63 std::ostream&
out)
const override;
~CTopLCDetector_FabMap() override
Destructor.
std::shared_ptr< mrpt::hmtslam ::CHMHMapNode > Ptr
static CTopLCDetectorBase * createNewInstance(CHMTSLAM *hmtslam)
A class factory, to be implemented in derived classes.
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
CTopLCDetector_FabMap(CHMTSLAM *hmtslam)
mrpt::vision::TStereoCalibResults out
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
This class allows loading and storing values and vectors of different types from a configuration text...
TOptions()
Initialization of default params.
double p_obs_given_exists
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
Options for a TLC-detector of type FabMap, used from CHMTSLAM.
void OnNewPose(const TPoseID &poseID, const mrpt::obs::CSensoryFrame *SF) override
Hook method for being warned about the insertion of a new poses into the maps.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
mrpt::poses::CPose3DPDF::Ptr computeTopologicalObservationModel(const THypothesisID &hypID, const CHMHMapNode::Ptr ¤tArea, const CHMHMapNode::Ptr &refArea, double &out_log_lik) override
This method must compute the topological observation model.
std::shared_ptr< CPose3DPDF > Ptr
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
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