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mrpt::hmtslam::CLSLAMAlgorithmBase Class Reference


Detailed Description

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

Definition at line 495 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CLSLAMAlgorithmBase:
Inheritance graph
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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< CHMTSLAMm_parent

Friends

class HMTSLAM_IMPEXP CLocalMetricHypothesis

Constructor & Destructor Documentation

mrpt::hmtslam::CLSLAMAlgorithmBase::CLSLAMAlgorithmBase ( CHMTSLAM parent  )  [inline]

Constructor.

Definition at line 504 of file CHMTSLAM.h.

References HMTSLAM_IMPEXP.

virtual mrpt::hmtslam::CLSLAMAlgorithmBase::~CLSLAMAlgorithmBase (  )  [inline, virtual]

Destructor.

Definition at line 508 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]

Reimplemented in mrpt::hmtslam::CLSLAM_RBPF_2DLASER.

Definition at line 497 of file CHMTSLAM.h.


Member Data Documentation

Definition at line 499 of file CHMTSLAM.h.




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