mrpt::hmtslam::CLSLAMAlgorithmBase Class Reference

Detailed Description

Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM.

Definition at line 479 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CLSLAMAlgorithmBase:

Public Member Functions
	CLSLAMAlgorithmBase (CHMTSLAM *parent)
	Constructor. More...
virtual	~CLSLAMAlgorithmBase ()
	Destructor. More...
virtual void	processOneLMH (CLocalMetricHypothesis *LMH, const CActionCollectionPtr &act, const CSensoryFramePtr &sf)=0
	Main entry point from HMT-SLAM: process some actions & observations. More...
virtual void	prediction_and_update_pfAuxiliaryPFOptimal (CLocalMetricHypothesis *LMH, const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)=0
	The PF algorithm implementation. More...
virtual void	prediction_and_update_pfOptimalProposal (CLocalMetricHypothesis *LMH, const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)=0
	The PF algorithm implementation. More...

Protected Attributes
safe_ptr< CHMTSLAM >	m_parent

Friends
class HMTSLAM_IMPEXP	CLocalMetricHypothesis

Constructor & Destructor Documentation

mrpt::hmtslam::CLSLAMAlgorithmBase::CLSLAMAlgorithmBase ( CHMTSLAM *  parent )

inline

Constructor.

Definition at line 488 of file CHMTSLAM.h.

virtual mrpt::hmtslam::CLSLAMAlgorithmBase::~CLSLAMAlgorithmBase ( )

inlinevirtual

Destructor.

Definition at line 492 of file CHMTSLAM.h.

Member Function Documentation

virtual void mrpt::hmtslam::CLSLAMAlgorithmBase::prediction_and_update_pfAuxiliaryPFOptimal ( CLocalMetricHypothesis *  LMH, const mrpt::slam::CActionCollection *  action, const mrpt::slam::CSensoryFrame *  observation, const bayes::CParticleFilter::TParticleFilterOptions &  PF_options  )

pure virtual

The PF algorithm implementation.

Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

virtual void mrpt::hmtslam::CLSLAMAlgorithmBase::prediction_and_update_pfOptimalProposal ( CLocalMetricHypothesis *  LMH, const mrpt::slam::CActionCollection *  action, const mrpt::slam::CSensoryFrame *  observation, const bayes::CParticleFilter::TParticleFilterOptions &  PF_options  )

pure virtual

The PF algorithm implementation.

Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

virtual void mrpt::hmtslam::CLSLAMAlgorithmBase::processOneLMH ( CLocalMetricHypothesis *  LMH, const CActionCollectionPtr &  act, const CSensoryFramePtr &  sf  )

pure virtual

Main entry point from HMT-SLAM: process some actions & observations.

The passed action/observation will be deleted, so a copy must be made if necessary. This method must be in charge of updating the robot pose estimates and also to update the map when required.

Parameters

LMH	The local metric hypothesis which must be updated by this SLAM algorithm.
act	The action to process (or NULL).
sf	The observations to process (or NULL).

Implemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CLocalMetricHypothesis

friend

Definition at line 481 of file CHMTSLAM.h.

Member Data Documentation

safe_ptr<CHMTSLAM> mrpt::hmtslam::CLSLAMAlgorithmBase::m_parent

protected

Definition at line 483 of file CHMTSLAM.h.