9 #ifndef _CTopLCDetector_FabMap_H
10 #define _CTopLCDetector_FabMap_H
43 const CHMHMapNodePtr ¤tArea,
44 const CHMHMapNodePtr &refArea,
68 const std::string §ion);
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_FabMap()
Destructor.
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.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
This class allows loading and storing values and vectors of different types from a configuration text...
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
double p_obs_given_exists
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion)
Load parameters from configuration source.
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
static CTopLCDetectorBase * createNewInstance(CHMTSLAM *hmtslam)
A class factory, to be implemented in derived classes.
Options for a TLC-detector of type FabMap, used from CHMTSLAM.
CTopLCDetector_FabMap(CHMTSLAM *hmtslam)
void dumpToTextStream(mrpt::utils::CStream &out) const
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
TOptions()
Initialization of default params.