mrpt::hmtslam::CLSLAMAlgorithmBase Class Reference

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

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CLSLAMAlgorithmBase:

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Collaboration diagram for mrpt::hmtslam::CLSLAMAlgorithmBase:

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List of all members.

Public Member Functions
	CLSLAMAlgorithmBase (CHMTSLAM *parent)
	Constructor.
virtual	~CLSLAMAlgorithmBase ()
	Destructor.
virtual void	processOneLMH (CLocalMetricHypothesis *LMH, const CActionCollectionPtr &act, const CSensoryFramePtr &sf)=0
	Main entry point from HMT-SLAM: process some actions & observations.
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.
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.
Protected Attributes
safe_ptr< CHMTSLAM >	m_parent
Friends
class HMTSLAM_IMPEXP	CLocalMetricHypothesis

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Detailed Description

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

Definition at line 504 of file CHMTSLAM.h.

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Constructor & Destructor Documentation

mrpt::hmtslam::CLSLAMAlgorithmBase::CLSLAMAlgorithmBase

(

CHMTSLAM *

parent

)

[inline]

Constructor.

Definition at line 513 of file CHMTSLAM.h.

virtual mrpt::hmtslam::CLSLAMAlgorithmBase::~CLSLAMAlgorithmBase

(

)

[inline, virtual]

Destructor.

Definition at line 517 of file CHMTSLAM.h.

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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.

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Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CLocalMetricHypothesis [friend]

Reimplemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

Definition at line 506 of file CHMTSLAM.h.

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Member Data Documentation

safe_ptr<CHMTSLAM> mrpt::hmtslam::CLSLAMAlgorithmBase::m_parent [protected]

Definition at line 508 of file CHMTSLAM.h.