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65 const std::string& section)
override;
67 std::ostream&
out)
const override;
Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM.
~CTopLCDetector_GridMatching() override
Destructor.
std::shared_ptr< mrpt::hmtslam ::CHMHMapNode > Ptr
mrpt::slam::CGridMapAligner::TConfigParams matchingOptions
Options for the grid-to-grid matching algorithm.
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
CTopLCDetector_GridMatching(CHMTSLAM *hmtslam)
TOptions()
Initialization of default params.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
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.
The ICP algorithm configuration data.
This class allows loading and storing values and vectors of different types from a configuration text...
static CTopLCDetectorBase * createNewInstance(CHMTSLAM *hmtslam)
A class factory, to be implemented in derived classes.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
std::shared_ptr< CPose3DPDF > Ptr
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.
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.
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.
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
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