LapCounter Class Reference

Implementation of LoopClosure that detects when the robot returns near the origin and re‑observes any of the first X cones from the map. More...

#include <lap_counter.hpp>

Inheritance diagram for LapCounter:

Collaboration diagram for LapCounter:

Public Member Functions
	LapCounter (double threshold_dist, int first_x_cones, int border_width, int minimum_confidence)
Result	detect (const Eigen::Vector3d &current_pose, const Eigen::VectorXd &map_cones, const Eigen::VectorXi &associations, const Eigen::VectorXd &observations) const override
	Detects loop closure when returning to origin and seeing initial cones.
Public Member Functions inherited from LoopClosure
virtual	~LoopClosure ()=default

Private Attributes
double	threshold_dist_
int	first_x_cones_
int	border_width_
int	minimum_confidence_
bool	searching_ {false}

Detailed Description

Implementation of LoopClosure that detects when the robot returns near the origin and re‑observes any of the first X cones from the map.

Definition at line 9 of file lap_counter.hpp.

Constructor & Destructor Documentation

LapCounter()

LapCounter::LapCounter	(	double	threshold_dist,
		int	first_x_cones,
		int	border_width,
		int	minimum_confidence
	)

Parameters

threshold_dist	distance (m) around origin to trigger closure
first_x_cones	consider a loop if you see any of these first X cones
border_width	distance to givve to start searching for loop closure again
minimum_confidence	minimum number of observations to confirm loop closure

Definition at line 5 of file lap_counter.cpp.

Member Function Documentation

detect()

LoopClosure::Result LapCounter::detect ( const Eigen::Vector3d &  current_pose, const Eigen::VectorXd &  map_cones, const Eigen::VectorXi &  associations, const Eigen::VectorXd &  observations  ) const

overridevirtual

Detects loop closure when returning to origin and seeing initial cones.

Parameters

current_pose	your latest pose in world frame
map_cones	full map of cones (in insertion order)
associations	one entry per observation: >=3 → matched map_cones[(j-3)/2] -1 → new landmark, -2 → no match
observations	raw observations (unused in this implementation)

Returns

{true,0.0} once you re‑see any of map_cones[0..X-1]

Implements LoopClosure.

Definition at line 13 of file lap_counter.cpp.

Member Data Documentation

border_width_

int LapCounter::border_width_

private

Definition at line 36 of file lap_counter.hpp.

first_x_cones_

int LapCounter::first_x_cones_

private

Definition at line 35 of file lap_counter.hpp.

minimum_confidence_

int LapCounter::minimum_confidence_

private

Definition at line 37 of file lap_counter.hpp.

searching_

bool LapCounter::searching_ {false}

mutableprivate

Definition at line 38 of file lap_counter.hpp.

threshold_dist_

double LapCounter::threshold_dist_

private

Definition at line 34 of file lap_counter.hpp.

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The documentation for this class was generated from the following files:

• src/perception_sensor_lib/include/perception_sensor_lib/loop_closure/lap_counter.hpp
• src/perception_sensor_lib/src/loop_closure/lap_counter.cpp