MapRepresentationInterface.h
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00001 //=================================================================================================
00002 // Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef _hectormaprepresentationinterface_h__
00030 #define _hectormaprepresentationinterface_h__
00031 
00032 class GridMap;
00033 class ConcreteOccGridMapUtil;
00034 class DataContainer;
00035 
00036 namespace hectorslam{
00037 
00038 class MapRepresentationInterface
00039 {
00040 public:
00041 
00042   virtual ~MapRepresentationInterface() {};
00043 
00044   virtual void reset() = 0;
00045 
00046   virtual float getScaleToMap() const = 0;
00047 
00048   virtual int getMapLevels() const = 0;
00049   virtual const GridMap& getGridMap(int mapLevel = 0) const = 0;
00050 
00051   virtual void addMapMutex(int i, MapLockerInterface* mapMutex) = 0;
00052   virtual MapLockerInterface* getMapMutex(int i) = 0;
00053 
00054   virtual void onMapUpdated() = 0;
00055 
00056   virtual Eigen::Vector3f matchData(const Eigen::Vector3f& beginEstimateWorld, const DataContainer& dataContainer, Eigen::Matrix3f& covMatrix) = 0;
00057 
00058   virtual void updateByScan(const DataContainer& dataContainer, const Eigen::Vector3f& robotPoseWorld) = 0;
00059 
00060   virtual void setUpdateFactorFree(float free_factor) = 0;
00061   virtual void setUpdateFactorOccupied(float occupied_factor) = 0;
00062 };
00063 
00064 }
00065 
00066 #endif
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hector_mapping
Author(s): Stefan Kohlbrecher
autogenerated on Mon Jul 15 2013 16:52:03